Integral State Feedback Controller with Coefficient Diagram Method for USV Heading Control

USV (unmanned surface vehicle) is gaining more popularity due to its usage for commercial and military purposes. There are various aspects that important for USV, one of them is heading control. In this paper, we present the implementation of integral state feedback controller which is tuned using coefficient diagram method. The controller design and experiments are carried out using MATLAB. It is verified that the settling time for our controller is 0.717 seconds, which is faster than the previous works. The results also show that it has no steady state error and good capability against disturbance.