Comparison of LQG and Adaptive PID Controller for USV Heading Control

Abstract

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.