@inproceedings{2d9b46a96239453793c7682ea1f3c9eb,
title = "A Novel Tracking Controller Design for USV using Adaptive PID",
abstract = "The motion control of Unmanned Surface Vessels (USVs) constitutes a complex system with time-varying, nonlinear, and multiple disturbances. Traditional PID controllers require frequent parameter adjustments for varying scenarios, which is challenging for real application. This paper proposes a novel adaptive PID (APID) controller for USVs. It can adjust the PID control parameters without manual tuning. The stability of the APID can be ensured by using the second-order dummy variable which is composed of intermediate variables and their derivatives defined by the designer. The output error of the system tends to zero, which ensures the system stability. Simulation experiments demonstrate that the novel APID controller can effectively address the deficits of traditional PID controllers and offers a promising solution for the tracking control of USVs in complex environments and mission scenarios.",
keywords = "adaptive PID, second-order dummy variable, unmanned surface vessel (USV)",
author = "Bo Wang and Xiao He and Xiangdong Jiang and Feng Liu and Peng Li",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 9th Annual International Conference on Network and Information Systems for Computers, ICNISC 2023 ; Conference date: 27-10-2023 Through 29-10-2023",
year = "2023",
doi = "10.1109/ICNISC60562.2023.00032",
language = "English",
series = "Proceedings - 2023 9th Annual International Conference on Network and Information Systems for Computers, ICNISC 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "26--29",
editor = "Surinder Singh and Surinder Singh and Hongzhi Wang and Anand Nayyar and Gatla, {Ranjith Kumar}",
booktitle = "Proceedings - 2023 9th Annual International Conference on Network and Information Systems for Computers, ICNISC 2023",
address = "United States",
}