DocumentCode :
2429342
Title :
Robust path following control of an unmanned boat
Author :
Yu, Zhenyu
Author_Institution :
State Key Lab. of Rail Traffic Control & Safety, Beijing Jiaotong Univ., Beijing, China
fYear :
2010
fDate :
7-10 Dec. 2010
Firstpage :
2345
Lastpage :
2348
Abstract :
Robust path following capability is mandatory for an unmanned boat to perform tasks autonomously. This paper presents a mixed H∞/H2 based control which enables the boat to follow paths with connected straight line segments and circular arcs in the absence of yaw angle measurement. The performance of the strategy is evaluated in field test and will be discussed in the paper.
Keywords :
H∞ control; angular measurement; boats; mobile robots; position control; remotely operated vehicles; robust control; circular arc; mixed H∞-H2 based control; robust path following control; straight line segment; unmanned boat; yaw angle measurement; Boats; Global Positioning System; Mathematical model; Robot sensing systems; Robustness; Vehicles; path following; robust control; unmanned boat;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
Type :
conf
DOI :
10.1109/ICARCV.2010.5707404
Filename :
5707404
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=2429342
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