Rudder Based Roll Control via hostcomputer of A Robotic Boat

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