Design and validation of path tracking controller for USV along straight-lines

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Journal of Dalian Maritime University ›› 2015, Vol. 41 ›› Issue (4) : 14-18.

TIAN Yong, WANG Dan*, PENG Zhou-hua, LIU Lu

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Abstract

A straight-line path tracking controller is designed to solve the problem of straight-line path tracking of unmanned surface vehicles (USV). The controller consists of two parts: guidance law and a course controller. The guidance law is based on the Line-of-Sight (LOS) guidance law, which provides the expected course according to the given path. An anti-windup course controller is devised to prevent integrator saturation through negative feedback. The controller solves the problem of overshoot and oscillation in traditional PID controller. A case study is provided on a USV called DH-01 to demonstrate the performance of the tracking controller. Experimental results show that the tracking error is less than 0.05 m.

Key words

unmanned surface vehicles (USV) / path tracking / Line-of-Sight guidance law / anti-windup PID

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TIAN Yong, WANG Dan, PENG Zhou-hua, LIU Lu. Design and validation of path tracking controller for USV along straight-lines[J]. Journal of Dalian Maritime University. 2015, 41(4): 14-18

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