The Course Control Based on an On-line Self-adjusted PID Control Algorithm for Unmanned Surface Vehicles
HU Zhiqiang1,2, ZHOU Huanyin1,2,3, LIN Yiang1, LIU Tiejun1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Graduate University of Chinese Academy of Sciences, Beijing 100049, China;
3. School of Mechanical and Electronic Engineering, East China Institute of Technology, Nanchang 330013, China
胡志强, 周焕银, 林扬, 刘铁军. 基于在线自优化PID算法的USV系统航向控制[J]. 机器人, 2013, 35(3): 263-268,275.DOI: 10.3724/SP.J.1218.2013.00263.
HU Zhiqiang, ZHOU Huanyin, LIN Yiang, LIU Tiejun. The Course Control Based on an On-line Self-adjusted PID Control Algorithm for Unmanned Surface Vehicles. ROBOT, 2013, 35(3): 263-268,275. DOI: 10.3724/SP.J.1218.2013.00263.
To improve the robustness of course control of the studied USV (unmanned surface vehicle) system under diverse sea conditions and settle the coupling between the surge speed and the course, a PID (proportional-integral-derivative) control algorithm whose control parameters are adaptively adjusted on-line is developed. The control parameters of the proposed PID control algorithm are some functions which are adaptively adjusted according to the surge speeds and the state errors of course. It is shown by Lyapunov function method that the proposed algorithm can keep the USV system stable. Some sea trials demonstrate that the control parameters are self-adjusted on-line according to surge speed and the state error of course under different sea conditions, moreover, the robustness and anti-disturbance performance under different sea conditions are improved, and the overshoot is decreased to less than 1.5% without static errors.
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