Speed and Heading Control System for an Unmanned Surface Vehicle - USV
DOI:
https://doi.org/10.25043/19098642.231Keywords:
Unmanned Surface Vehicle, PID controllers, speed and heading control systemAbstract
This paper presents the results obtained from the design of a speed and heading control system for the platform component of an unmanned surface vehicle (USV) technology demonstrator, using PID controllers. A description of the vehicle technology demonstrator used for the implementation of the system is presented, as well as the tests performed to obtain the dynamic models of the platform component of the USV technology demonstrator, the calculations of the controllers and the navigation tests that validate the performance of these controllers. All the above as a result of the joint research process between the Naval Cadet School "Almirante Padilla" and COTECMAR, with the support of the Naval NCO School "ARC BARRANQUILLA" and financed by the Colombian Navy through Minciencias.
Downloads
References
ALFARO, V. 2002. Tuning Methods For PID Controllers Operating As Regulators. s.l. : Ingeniería, 2002. 21-36.
CAMACHO, D. 2017. Development of the Telemetry System for the Monitoring of Geographic Position, Roll, Pitch and Magnetic Orientation in Unmanned Surface Vehicles "SÁBALO2". Cartagena : Naval Cadet School "Almirante Padilla", 2017.
CARDONA, J and PAIPA, E. 2014. Metodología Para La Obtención De Indicadores de Nomoto a Partitir De Pruebas Experimentales. Cartagena de Indias : Escuela Navala de Cadetes "Almirante Padilla", 2014.
CORREA, N and AMADOR, L. 2017. Implementation of the PTZ Camera Control System By Radio Frequency In Unmanned Surface Vehicles "SÁBALO". Cartagena de Indias : Escuela Naval de Cadetes "Almirante Padilla", 2017.
ESCOLAPORT. [Online] [Cited on: 10 April 2021.] https://aulanautica.org/unit/unidad-teorica-7-maniobra-y-navegacion/.
International Maritime Organization. 2002. Standards For Ship Manoeuvrability. s.l. : Resolution Msc, 2002.
JINYEONG, H, JUNGHOON, K and YONGJIN, K. 2017. Analysis of Desing Directions for Unmanned Surface Vehicles (USVs). s.l. : Journal of Computer and Communications, 2017. 92-100. https://doi.org/10.4236/jcc.2017.57010
OCHOA, A and OTERO, E. 2013. Implementación De Técnicas De Identificación Para La Obtención De Los Coeficientes Hidrodinámicos De Vehículos De Superficie Orientados A La Modelación Del USV. Cartagena de Indias : Naval Cadet School "Almirante Padilla", 2013.
SMITH, C and CORRIPIO, A. 1997. Principles and Practice of Automatic Process Control. 1997.

Published
How to Cite
Issue
Section
License

This work is licensed under a Creative Commons Attribution 4.0 International License.
The authors who publish in this Journal certify that:
- The work submitted for publication in The Ship Science and Technology journal, was written by the author, given that its content is the product of his/her direct intellectual contribution.
- All data and references to material already published are duly identified with their respective credits and are included in the bibliographic notes and quotations highlighted as such.
- All materials submitted for publication are completely free of copyrights; consequently, the author accepts responsibility for any lawsuit or claim related with Intellectual Property Rights thereof, Exonerating of responsibility to The Science and Technology for the Development of Naval, Maritime, and Riverine Industry Corporation, COTECMAR.
- In the event that the article is chosen for publication by The Ship Science and Technology journal, the author state that he/she totally transfers reproduction rights of such to The Science and Technology for the Development of Naval, Maritime, and Riverine Industry Corporation, COTECMAR.
- The authors retain the copyright and transfer to COTECMAR the right of publication and reproduction of the work which will be simultaneously subject to the Creative Commons Attribution License (CC -BY) , which allows the license to copy, distribute, display and represent the work and to make derivative works as long as it recognizes and cites the work in the manner specified by the author or licensor.
- For more information about the Creative Commons Attribution License (CC -BY) and his use and scope, please visit the following web page https://creativecommons.org/licenses/by-sa/4.0/legalcode