TY - JOUR
T1 - Autopilot system design on monohull USV- LSS01 using PID- based sliding mode control method
AU - Alim, M. F.A.
AU - Kadir, R. E.A.
AU - Gamayanti, N.
AU - Santoso, A.
AU - Bilfaqih, Y.
AU - Sahal, M.
N1 - Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2021/2/23
Y1 - 2021/2/23
N2 - The Autopilot system for Unmanned Surface Vehicle (USV) can be applied by Sliding Mode Control which is a high frequency switching based control method and has discontinuous control action causing chattering on the system. Therefore, the Sliding Mode Control with natural control signal using a PID controller structure is applied to the USV. By using Sliding Mode Control, USV is expected to move accurately from the expected waypoint without any chattering on the system. The stability of the whole loop of system regulation is ensured using the Lyapunov stability function. The simulation results for autopilot system validate that the control parameters fit the time constant controller design specification and have zero steady-state errors. Further, autopilot system with waypoint navigation relatively generates small Mean Square Error (MSE) of waypoint.
AB - The Autopilot system for Unmanned Surface Vehicle (USV) can be applied by Sliding Mode Control which is a high frequency switching based control method and has discontinuous control action causing chattering on the system. Therefore, the Sliding Mode Control with natural control signal using a PID controller structure is applied to the USV. By using Sliding Mode Control, USV is expected to move accurately from the expected waypoint without any chattering on the system. The stability of the whole loop of system regulation is ensured using the Lyapunov stability function. The simulation results for autopilot system validate that the control parameters fit the time constant controller design specification and have zero steady-state errors. Further, autopilot system with waypoint navigation relatively generates small Mean Square Error (MSE) of waypoint.
UR - http://www.scopus.com/inward/record.url?scp=85102433829&partnerID=8YFLogxK
U2 - 10.1088/1755-1315/649/1/012058
DO - 10.1088/1755-1315/649/1/012058
M3 - Conference article
AN - SCOPUS:85102433829
SN - 1755-1307
VL - 649
JO - IOP Conference Series: Earth and Environmental Science
JF - IOP Conference Series: Earth and Environmental Science
IS - 1
M1 - 012058
T2 - Sustainable Islands Development Initiatives International Conference 2019, SIDI IC 2019
Y2 - 2 September 2019 through 3 September 2019
ER -