Comparison of LQG and Adaptive PID Controller for USV Heading Control

被引：13

作者：

Asfihani, Tahiyatul ^{[1
]}

Arif, Didik Khusnul ^{[1
]}

Subchan ^{[1
]}

Putra, Firdaus Priyatno ^{[1
]}

Firmansyah, Moch Ardi ^{[1
]}

机构：

[1] Inst Teknol Sepuluh Nopember ITS, Math Dept, Surabaya, Indonesia

来源：

INTERNATIONAL CONFERENCE ON MATHEMATICS: PURE, APPLIED AND COMPUTATION | 2019年 / 1218卷

关键词：

D O I：

10.1088/1742-6596/1218/1/012058

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

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.

引用

页数：9

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