Unmanned rescue boat course control method based on improved whale algorithm

The invention discloses an unmanned rescue boat course control method based on an improved whale algorithm, and belongs to the technical field of fractional order PID control optimization, and the method specifically comprises the steps: improving a basic whale algorithm, introducing a nonlinear whale falling probability updating strategy and a new balance factor strategy, and improving the convergence speed and precision of the algorithm. The improved white whale optimization algorithm is used for optimizing the fractional order PID controller, the problem that fractional order PID parameter optimization is difficult is solved, the flexible performance and the control performance of the unmanned rescue boat in the complex environment are improved, the anti-interference capacity of the unmanned rescue boat is improved, and the heading control requirement of the unmanned rescue boat in the complex environment is met. 本发明公开了一种基于改进白鲸算法的无人救援艇航向控制方法，属于分数阶PID控制优化技术领域，具体包括改进基础白鲸算法，引入非线性的鲸落概率更新策略和新的平衡因子策略，提高算法收敛速度和精度