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

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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.

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Polish Maritime Research

The Journal of Gdansk University of Technology

Journal Information


IMPACT FACTOR 2017: 0.763
5-year IMPACT FACTOR: 0.816


CiteScore 2017: 0.99

SCImago Journal Rank (SJR) 2017: 0.280
Source Normalized Impact per Paper (SNIP) 2017: 0.788

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