Rudder Based Roll Control via Host-Computer of a Robotic Boat | Zendy

Xinping Bao | Zendy; Zhenyu Yu | Zendy; Kenzo AMI | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Rudder Based Roll Control via Host-Computer of a Robotic Boat

Author(s) -

Xinping Bao,

Zhenyu Yu,

Kenzo AMI

Publication year - 2009

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/6773

Subject(s) - rudder , host (biology) , sea trial , computer science , engineering , sensitivity (control systems) , simulation , control engineering , course (navigation) , key (lock) , marine engineering , aerospace engineering , ecology , computer security , electronic engineering , biology

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

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research