Course Control of Unmanned Surface Vehicle Based on Fuzzy Control of Transition Rules

The course control of unmanned boat is the foundation of unmanned boats movement, which often faces complex and changeable environmental interference problems. To further improve the anti-jamming ability of unmanned boat course control, a conversion rule method is proposed based on the fuzzy control algorithm with a strong anti-jamming ability to overcome the problems of fuzzy rules difficult to make and self-adaptation. The mapping relationship between the PID controller and the fuzzy controller is analyzed theoretically, and a set of conversion rule methods is established to convert PID parameters into fuzzy control rules. By virtue of the PID controller's advantages of high steady-state accuracy, and simple self-adaptation, the defects of the fuzzy controller are made up. The simulation experiment of ship motion control based on MATLAB is verified. The results show that there is a correspondence between the PID controller coefficient and the linear fuzzy rules. The ship motion simulation verifies the effectiveness of the conversion rule method and the introduction of deviation integral. The conversion rule method based on PID parameters generating linear fuzzy rules is feasible and effective. The new integral fuzzy controller can effectively suppress the fluctuation of course deviation under wave interference, which is of great significance for the course control of unmanned craft with complex and changeable working environments.