Experimental Study on Output Robust Control of a Surface Vessel with Uncertainties and Exogenous Disturbances

Abstract

In this paper experimental research on the output control problem of a surface vessel with parametric uncertainties and external disturbances is shown. We propose application of the robust control framework based on the extended observer design with subsequent augmenting with the internal model to reject external disturbances affected the robotic boat in laboratory basin. Dynamic Positioning (DP) mode includes task of a station-keeping which can can be effectively solved with proposed algorithm.