科研之友
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摘要
Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy. Therefore, this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV) based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions. The vehicle self-steering system(autopilot system) is designed theoretically and tested via a simulation. Based on the Lyapunov theory, the stability in the closed-loop system is guaranteed, and the convergence of the heading tracking errors is obtained. In addition, the designed control law is implemented via a microcontroller and tested experimentally in real time. Conclusion, experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.
