Anti-Disturbance Path Tracking Control for USV Based on Quantum-Inspired Optimization and Dynamic Game Theory

Abstract

To address the challenge that unmanned surface vehicles (USVs) struggle to effectively balance tracking accuracy, control smoothness, and system energy efficiency under external disturbances, this paper proposes an anti-disturbance path tracking control method integrating quantum-inspired optimization (QIO) and dynamic game theory (GT). The proposed control method consists of a two-layer optimization architecture: the upper layer employs dynamic game theory to optimize the guidance process, modeling the optimization of the look-ahead distance (Ld) and switching radius (R) in the LOS guidance algorithm as a non-cooperative game, and achieves adaptive adjustment to path variations and environmental disturbances by solving for the Nash equilibrium. The lower layer, based on a quantum-inspired optimization algorithm, enhances the control process by employing quantum bit probability amplitude encoding for the PID parameter space and utilizing a quantum rotation gate mechanism for efficient global search, thereby achieving online self-tuning of PID parameters under environmental disturbances. Simulation results indicate that, under sea conditions with external disturbances, the proposed method achieves a superior balance among tracking accuracy, control smoothness, and system energy efficiency compared to the traditional fixed-parameter PID-LOS approach, enhancing the comprehensive anti-disturbance robustness of the USV.

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