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Citation:
　Helmi Abrougui,Samir Nejim.Autopilot Design for an Unmanned Surface Vehicle Based on Backstepping Integral Technique with Experimental Results[J].Journal of Marine Science and Application,2023,(3):614-623.[doi:10.1007/s11804-023-00356-4]
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Autopilot Design for an Unmanned Surface Vehicle Based on Backstepping Integral Technique with Experimental Results

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Title:
Autopilot Design for an Unmanned Surface Vehicle Based on Backstepping Integral Technique with Experimental Results
Author(s):
Helmi Abrougui;  Samir Nejim
Affilations:
Author(s):
Helmi Abrougui;  Samir Nejim
Research Laboratory of Marine Technology and Naval Systems, Naval Academy, Menzel Bourguiba 7050, Tunisia
Keywords:
Unmanned surface vehicle; Autopilot system design; Control law tuning; Heading controller; Backstepping integral control
分类号:
-
DOI:
10.1007/s11804-023-00356-4
Abstract:
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.

References:

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Memo

Memo:
Received date:2023-2-8;Accepted date:2023-3-31。
Foundation item:The authors would like to thank the Ministry of Defense and the Tunisian Naval Academy for supporting this work.
Corresponding author:Helmi Abrougui,E-mail:helmi.abrougui@enit.utm.tn
Last Update: 2023-10-10