Real-Time Implementation Of PID Control For Unmanned Surface Vessel: A Practical Approach

Abstract

This research presents the development and implementation of a Proportional-Integral-Derivative (PID) controller on an unmanned surface vessel (USV). Testing control system involves the verification and validation of the Cyber Physical System as a whole, ensuring that it meets the desired performance and safety requirement. Paper Describes the identification of control variables through empirical calculations later, which is evaluated through simulation and field trials were carried out. The implementation of the PID controller on the unmanned surface vessel showed promising results in controlling the vessel's motion and maintaining stability. However, the research also highlighted some challenges and limitations in the implementation, such as the need for further testing in realistic and dynamic environments. In the upcoming phases of this project, the team intends to enhance their work by devising a path-following algorithm that can handle intricate environments. Overall, the research contributes to the advancement of the field of unmanned surface vessels by providing a reliable and efficient control method for these systems. © 2023 IEEE.