文章基本信息

标题：HEADING CONTROL SYSTEM DESIGN FOR A MICRO-USV BASED ON AN ADAPTIVE EXPERT S-PID ALGORITHM
本地全文：下载
作者：Runlong Miao ; Zaopeng Dong ; Lei Wan 等
期刊名称：Polish Maritime Research
电子版ISSN：2083-7429
出版年度：2018
卷号：25
期号：2
页码：6-13
DOI：10.2478/pomr-2018-0049
语种：English
出版社：Sciendo
摘要：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.
关键词：micro unmanned surface vessel (micro-USV);control system design;adaptive expert S-PID algorithm;heading control;pool experiment;lake experiment