Abstract：This paper presented a design method of heading controller based on fuzzy neural network algorithm to solve the problem that conventional PID controller has low anti-interference ability and low control precision. First，the membership function is determined by neural network classification regression， then three parameters of PID controller are adjusted online via Fuzzy control algorithm to ensure control the course of USV in real time. The simulation results show that this controller is capable to meets the need of heading control for real time， and it has the characteristics of high control precision and robustness， improves the adaptability of the USV in complex environment.
2018, Vol. 52 
