Design of autopilot control system on unmanned surface vehicle type monohull LSS-01 using model reference adaptive control-state feedback in waypoint control

Abstract

For unmanned surface vehicle to run automatically, algorithms of the autopilot system and waypoint navigation are needed. The autopilot system is an unmanned surface vehicle control towards the waypoint. One example of a navigation algorithm is the desired waypoint, it requires control of the ship's steering angle, namely thrust and turning angle. Unmanned surface vehicle can encounter external interference while advancing, such as waves, wind, and ocean currents. It is desirable, therefore, to unmanned surface vehicle to be able of adapting these conditions. One way to overcome this interference is to design adaptive controllers such as the Model Reference Adaptive Control (MRAC) - state feedback to regulate the behavior of unmanned surface vehicle plants. In this respect a reference to the desired model is required for the MRAC-state feedback controller. Using this method, it is expected that unmanned surface vehicle can move accurately from the expected waypoint. The MRAC-state feedback controller can produce an angle response of unmanned surface vehicle and speed on the surge axis according to the desired design criteria. From the simulation carried out the adaptive gain that is suitable for LSS01 unmanned surface vehicle is 0.0001. The results of simulation on the ship headed waypoint cross-track show RMS error when uninterrupted is 0.0846 and when given a disturbance is 0.2969.