- Tytuł:
- 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. - Powiązania:
- https://bibliotekanauki.pl/articles/258606.pdf
- Data publikacji:
- 2018
- Wydawca:
- Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
- Tematy:
-
micro unmanned surface vessel (micro-USV)
control system design
adaptive expert S-PID algorithm
heading control
pool experiment
lake experiment - Opis:
- 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.
- Źródło:
-
Polish Maritime Research; 2018, 2; 6-13
1233-2585 - Pojawia się w:
- Polish Maritime Research
- Dostawca treści:
- Biblioteka Nauki
Artykuł