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In order to solve the problem of autonomous dynamic control for unmanned surface vehicle (USV) under the unknown environment, the course and speed cooperative control method based on adaptive fuzzy algorithm is studied in this paper. A fuzzy control algorithm is designed of which the inputs are the deviation of course and position and the outputs are the rudder angle and throttle. The self-adaptive control method is used, of which the input is the deviation rate of course and the output is the control interval, to make system sensitive with external changes. The objective f unction of the optimization is the weighted minimum of the arrival time and the change frequency of r udder. The control effect of the parameters like domains has been analyzed. The results offer some s uggestions for the optimization of parameters of the control system.

Study on the Course and Speed Cooperative Control Method for Unmanned Surface Vehicle