<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm

Science and Technology on Underwater Vehicle Laboratory

Polish Maritime Research

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

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...

Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm

Published Online: Jul 07, 2018

Page range: 6 - 13

DOI: https://doi.org/10.2478/pomr-2018-0049

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

© 2018 Runlong Miao et al., published by Sciendo

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

Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm

Published Online: Jul 07, 2018

Page range: 6 - 13

DOI: https://doi.org/10.2478/pomr-2018-0049

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

© 2018 Runlong Miao et al., published by Sciendo

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

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