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Advanced Robust Heading Control for Unmanned Surface Vessels Using Hybrid Metaheuristic-Optimized Variable Universe
Siyu Zhan1, Qiang Liu2, Zhao Zhao3
1Department of Electrical Engineering, Baltic State Technical University, 190000 St. Petersburg, Russia.
Biomimetics (Basel, Switzerland)
|September 26, 2025
Summary
This study introduces a robust heading control strategy for unmanned surface vessels (USVs) to overcome environmental disturbances and system delays. The advanced controller significantly reduces heading errors and improves settling time for safer marine operations.
Area of Science:
- Marine Engineering
- Control Systems
- Robotics
Background:
- Unmanned Surface Vessels (USVs) are increasingly used in critical marine operations.
- Precise heading control for USVs is challenging due to environmental disturbances and system delays.
Purpose of the Study:
- To develop an advanced robust heading control strategy for USVs.
- To address challenges in time-delay compensation and parameter tuning under dynamic conditions.
Main Methods:
- Integration of an enhanced Smith predictor for time-delay compensation.
- Implementation of a variable-universe fuzzy PID controller with self-adaptive scaling domains.
- Utilization of a hybrid metaheuristic optimization algorithm (BAS-HSA-GA) for parameter tuning.
Main Results:
- Over 90% reduction in steady-state heading error and ≈30% faster settling time in simulations.
- 15-25% lower tracking error in field trials under sea-state 4 conditions.
- Superior S-shaped path tracking performance compared to DRL, ANFC, and ACO approaches.
Conclusions:
- The proposed strategy offers a comprehensive solution for high-precision, delay-resilient USV heading control.
- The controller demonstrates significant improvements in performance and stability in dynamic marine environments.
Keywords:
adaptive controlheading controlhybrid metaheuristic optimizationintelligent optimizationmarine autonomyrobust controlsmith predictortime-delay compensationunmanned surface vessels (USVs)variable-universe fuzzy PIDMore Related Videos
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