Heading control system design for a micro-USV based on an adaptive expert S-PID algorithm

• Autorzy: Miao R. , Dong Z. , Wan L. , Zeng J.

Identyfikatory

DOI

10.2478/pomr-2018-0049

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

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

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2018
• Tom: nr 2
• Strony: 6--13
• Opis fizyczny: Bibliogr. 17 poz., rys.

Twórcy

autor

Miao R.

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

autor

Dong Z.

• School of Transportation Wuhan University of Technology 122 Luoshi Road 430070 Wuhan China

autor

Wan L.

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

autor

Zeng J.

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

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).