标题：Multi-objective based course-keeping controller optimization of Unmanned Surface Vehicle
作者机构：[Xu, Qingyang ] School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai; 264209, China
会议名称：Proceedings of the 33rd Chinese Control Conference, CCC 2014
会议日期：28 July 2014 through 30 July 2014
来源：Proceedings of the 33rd Chinese Control Conference, CCC 2014
关键词：multi-objective optimization; nonlinear Nomoto model; NSGA-II; PID; Unmanned Surface Vehicle
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. © 2014 TCCT, CAA.