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Original scientific paper


Tatijana Dlabač orcid id ; University of Montenegro, Faculty of Maritime Studies Kotor Dobrota 36, 85330 Kotor, Montenegro
Martin Ćalasan orcid id ; University of Montenegro, Faculty of Electrical Engineering Dzordža Vašingtona bb, 81000 Podgorica, Montenegro
Maja Krčum orcid id ; University of Split, Faculty of Maritime Studies
Nikola Marvučić ; 2nd Electrical Engineer onboard Adventure of the Seas, Royal Caribbean Cruises Ltd., 1050 Caribbean Way, Miami FL 33132

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This paper deals with autopilot proportional-integral-derivative (PID) controller design. In the literature, various available methods for PID controller have been presented. Based on the fact that the existing methods do not guarantee the optimal response of the system on the input step change, in this paper we used a valuable technique called Particle Swarm Optimization (PSO) in order to optimally design PID controller taking into account the system limitation such as the value of the rudder angle saturation. Furthermore, we have compared system response on input step and ramp change of input signal for a few PID controller parameters values obtained by using different methods known in literature. It has been proven that by applying the PSO method, it is possible to determine the optimal PID controller parameters which guarantee fast and proper response from the aspect of the minimal overshoot and the minimal settling time. The obtained results confirm the applicability and efficiency of using PSO method for optimal autopilot PID controller design.


Autopilot, PID controller, Particle Swarm Optimisation (PSO), Rudder angle

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