Autopilot system design on monohull USV- LSS01 using PID- based sliding mode control method

Abstract

The Autopilot system for Unmanned Surface Vehicle (USV) can be applied by Sliding Mode Control which is a high frequency switching based control method and has discontinuous control action causing chattering on the system. Therefore, the Sliding Mode Control with natural control signal using a PID controller structure is applied to the USV. By using Sliding Mode Control, USV is expected to move accurately from the expected waypoint without any chattering on the system. The stability of the whole loop of system regulation is ensured using the Lyapunov stability function. The simulation results for autopilot system validate that the control parameters fit the time constant controller design specification and have zero steady-state errors. Further, autopilot system with waypoint navigation relatively generates small Mean Square Error (MSE) of waypoint.