Unmanned surface vessel heading control of model-free adaptive method with variable integral separated and proportion control

Based on model-free adaptive control theory, the heading control problem of unmanned surface vessels under uncertain influence is explored. Firstly, the problems of compact form dynamic linearization model-free adaptive control method applied to unmanned surface vessel heading control are analyzed. Secondly, by introducing proportional control and variable integral separation factor, an variable integral separation model-free adaptive control algorithm with proportional control is proposed. The introduction of proportional control and variable integral separation factor solves the problems of oscillation, instability, and integral saturation when rudder angle is controlled directly to control the heading of unmanned surface vessel with compact form dynamic linearization model-free adaptive control method. Finally, the effectiveness of the method is verified by the simulation and field experiments results of heading control with model perturbation and system time delay in unmanned surface vessel heading subsystem.