标题：Multi-objective based Course-keeping Controller Optimization of Unmanned Surface Vehicle
作者机构：[Xu Qingyang] Shandong Univ, Sch Mech Elect & Informat Engn, Weihai 264209, Peoples R China.
会议名称：33rd Chinese Control Conference (CCC)
会议日期：JUL 28-30, 2014
来源：2014 33RD CHINESE CONTROL CONFERENCE (CCC)
关键词：Unmanned Surface Vehicle; multi-objective optimization; NSGA-II;; nonlinear Nomoto model; PID
摘要：Unmanned Surface Vehicle (USV) has been developed so fast due to the numerous applications. Course-keeping controller plays an important role in the navigation. PID is always adopted as the control law. However, tuning of PID is very difficult due to its multiple objectives. In this paper, NSGA-II is adopted to optimize the parameters of PID. In order to reflect the characteristics of the USV, a nonlinear Nomoto model is adopted to simulate the USV. Through the simulation, NSGA-II can optimize the parameters of PID under multiple objectives.