Rudder Based Roll Control via host-computer of A Robotic Boat

Abstract

Rudder based roll control of a small-sized robotic boat is a key technique for the devices on board to achieve good performance. This paper introduces a host-based robotic boat capable of performing basic movement operations. The course keeping and roll reduction are studied via rudder based method in simulations and sea trials. The boat dynamic model is built with the combination of mathematical analysis and system identification technique. A mixed sensitivity H control method design is selected since yaw and roll motion are posed in different frequency domains. Computer simulations and experiments carried out show that successful results are achieved.

Keywords

• Robotic boat
• host-based control
• H approach
• yaw/roll control.