TY - JOUR
T1 - Comparison of LQG and Adaptive PID Controller for USV Heading Control
AU - Asfihani, Tahiyatul
AU - Khusnul Arif, Didik
AU - Subchan,
AU - Priyatno Putra, Firdaus
AU - Ardi Firmansyah, Moch
N1 - Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2019/5/31
Y1 - 2019/5/31
N2 - This paper considers USV heading controller using Adaptive PID and LQG controller. PID is a conventional controller and the most industry controller. However, PID parameters are selected by trial and error. That problem proposed Adaptive PID how to tune PID parameters. In this paper, PID parameters are estimated by RLS method. The second controller for comparison is LQG. LQG controller is robust controller. A gain regulator estimation method, Kalman Filter, is used as LQG controller. The computational results show the LQG controller has better performance than Adaptive PID.
AB - This paper considers USV heading controller using Adaptive PID and LQG controller. PID is a conventional controller and the most industry controller. However, PID parameters are selected by trial and error. That problem proposed Adaptive PID how to tune PID parameters. In this paper, PID parameters are estimated by RLS method. The second controller for comparison is LQG. LQG controller is robust controller. A gain regulator estimation method, Kalman Filter, is used as LQG controller. The computational results show the LQG controller has better performance than Adaptive PID.
UR - http://www.scopus.com/inward/record.url?scp=85067816683&partnerID=8YFLogxK
U2 - 10.1088/1742-6596/1218/1/012058
DO - 10.1088/1742-6596/1218/1/012058
M3 - Conference article
AN - SCOPUS:85067816683
SN - 1742-6588
VL - 1218
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
IS - 1
M1 - 012058
T2 - 3rd International Conference on Mathematics; Pure, Applied and Computation, ICoMPAC 2018
Y2 - 20 October 2018
ER -