A Novel Tracking Controller Design for USV using Adaptive PID

The motion control of Unmanned Surface Vessels (USVs) constitutes a complex system with time-varying, nonlinear, and multiple disturbances. Traditional PID controllers require frequent parameter adjustments for varying scenarios, which is challenging for real application. This paper proposes a novel adaptive PID (APID) controller for USVs. It can adjust the PID control parameters without manual tuning. The stability of the APID can be ensured by using the second-order dummy variable which is composed of intermediate variables and their derivatives defined by the designer. The output error of the system tends to zero, which ensures the system stability. Simulation experiments demonstrate that the novel APID controller can effectively address the deficits of traditional PID controllers and offers a promising solution for the tracking control of USVs in complex environments and mission scenarios.