Application of real time control systems to small boat track-keeping control experiments

This work is concerned with the design of an FRP small boat-based tracking system. Specifically, the gyro and the RTKGPS positioning information are integrated under a software environment that allows direct transfer of the simulation-based design blocks to the control of the real boat. The Internal Model Control (IMC) design method characterized by its simplicity in design and easy in implementation is adopted for the controller design. Computer simulations reveal that the IMC design parameter that achieves favorable responses is directly applicable in the real boat-based experiments; hence, considerable time is saved during the experiments. The tracking mission is achieved through a sequence of course-changing control and the reference heading is computed by the line-of-sight (LOS) guidance law. Successful tracking suits far up to 12 waypoints are achieved that justify the feasibility of the proposed design and implementation procedures. The experimental results indicate that temporary RTK out of lock causes loss of positioning accuracy which results about 2 meters offset. However this does not prevent the system from completion of the tracking mission and the distance between successive waypoint and the error bound defining reaching the waypoint successfully should be selected according to the turning capability of the boat to ensure satisfactory tracking performance.