Abstract
This paper presents the modeling and control of an under-actuated robotic boat for fishing application. With the combination of mathematical analysis and system identification technique, we have developed a simple dynamic boat model suitable for controller design using low-cost sensors. Using this model it no longer requires yaw sensor for control and navigation. We have designed course-keeping and course-changing controllers based on mixed H_2/H_∞ method. These controllers are implemented on a boat configured with low-cost GPS and rate gyro whose total cost is less then $100. The performance is verified to be satisfactory through experiments carried out in both lake and sea.
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