Paper Details: Downloads: 1017
Serial Number: P1110728001
Title: Mixed H2/H8 based Course-following Control for a Small Low Cost Autonomous Boat
Authors: Zhenyu Yu and Xinping Bao and Kenzo Nonami
Abstract: This paper presents the design of course-following controller for an autonomous boat with low-cost sensors by applying H2/H8 robust control approach. At first a mathematical model for the under actuated boat is derived which captures the dynamics between rudder deflection and the boat’s horizontal motion. The resulted model could be seen as an extension to the Nomoto’s model. Despite of its simplicity, the model offers the advantage that no compass is required for control, which promotes integrated steering and guidance at low cost. Based on the model, mixed H2/H8 control approach is applied to provide robust stability in the presence of model uncertainty and environmental disturbance while maximizing the performance in the sense of H2 norm. The proposed modelling and control strategies are tested on a small autonomous boat whose length is about 1 meter. A low-cost GPS receiver and a gyroscope are used for navigation and control. The course-following performance has been demonstrated at sea trials. The standard deviation of the cross track error is 2.3 m which is a good result for the small boat with such low cost sensors.
Keywords: Autonomous boat, Course-following control, Mixed H2/H8, Modelling, Low cost
Journal/Conference: International Journal of Automatic Control and System Engineering
Volume: 7
Issue: 1
Submission Date: 5/1/2007 12:00:00 AM
Review Date: 6/1/2007 12:00:00 AM
Publishing Date: 5/1/2007 12:00:00 AM
Article Downloads: 1017
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