Analysis of Unmanned Surface Vehicles Heading KF-Based PI-(1+PI) Controller Using Improved Spider Wasp Optimizer

Analysis of Unmanned Surface Vehicles Heading KF-Based PI-(1+PI) Controller Using Improved Spider Wasp Optimizer

This paper proposes a Kalman filter-based cascaded PI-(1+PI) controller, optimized using an Improved Spider Wasp Optimizer (ISWO), to address the challenges of USV heading control in dynamic marine environments. Traditional PID controllers struggle with nonlinearities and noise in USV systems while...

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Bibliographic Details
Main Authors: Xiaoyu Li, Xiangye Zeng, Jingyi Wang, Qi Li, Baoshuo Fan, Qi Zeng
Format: Article
Language:English
Published: MDPI AG 2025-04-01
Series:Drones
Subjects:
unmanned surface vehicles (USVs)
heading control
improved spider wasp optimizer (ISWO)
PI-(1+PI) controller
Kalman filter
Online Access:https://www.mdpi.com/2504-446X/9/5/326
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