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 f...
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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/CVL second, by combining the expert control technology, s plane and pid control algorithms, an adaptiveexperts-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 resultsshows the superiority of the proposed adaptive expert s-pid algorithm in terms of heading control of the sL micro-UsV.
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