Electrical engineering

Control engineering

Motion control

Aerospace engineering

Chip

Heading (navigation)

Unmanned surface vehicle

PID controller

Operating system

Algorithm

Engineering

Control system

Artificial intelligence

Marine engineering

Control (management)

STM32

Computer science

Temperature control

Process (computing)

Control theory (sociology)

Telecommunications

Robot

Polish Maritime Research

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.

Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm