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HEADING CONTROL SYSTEM DESIGN FOR A MICRO-USV BASED ON AN ADAPTIVE EXPERT S-PID ALGORITHM

Abstract

The process of heading control system design for a kind of micro-unmanned surface vessel (micro-USV) is addressed in this paper and a novel adaptive expert S-PID algorithm is proposed. First, a motion control system for the micro-USV is designed based on STM32-ARM and the PC monitoring system is developed based on Labwindows/CVI. Second, by combining the expert control technology, S plane and PID control algorithms, an adaptive expert S-PID control algorithm is proposed for heading control of the micro-USV. Third, based on SL micro-USV developed in this paper, a large number of pool experiments and lake experiments are carried out, to verify the effectiveness and reliability of the motion control system designed and the heading control algorithm proposed. A great amount of comparative experiment results shows the superiority of the proposed adaptive expert S-PID algorithm in terms of heading control of the SL micro-USV.

Keywords:

micro unmanned surface vessel (micro-USV), control system design, adaptive expert S-PID algorithm, heading control, pool experiment, lake experiment

Details

Issue
Vol. 25 No. 2(98) (2018)
Section
Latest Articles
Published
07-07-2018
DOI:
https://doi.org/10.2478/pomr-2018-0049
Licencja:
Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Open Access License

This journal provides immediate open access to its content under the Creative Commons BY 4.0 license. Authors who publish with this journal retain all copyrights and agree to the terms of the CC BY 4.0 license.

 

Authors

  • Runlong Miao

    Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University
  • Zaopeng Dong

    School of Transportation, Wuhan University of Technology
  • Lei Wan

    Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University
  • Jiangfeng Zeng

    Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University

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