Output Robust Controller Design for Input-Saturated Robotic Boat with Disturbance Cancellation

In this paper a problem of saturated control for a robotic boat with unknown parameters and unmeasurable velocity and acceleration is addressed. The controller design is based on the output robust control approach consecutive compensator. It was augmented with an internal model, which allows to eliminate a static error and implement the anti-windup scheme to reduce overshoot of the output variable. As result, the regulator generating the bounded control signal and avoiding windup for the boat was obtained. The proof of closed-loop system stability is presented. The efficiency of the proposed algorithm was illustrated by series of experiments using the setup with robotic boat. The experimental results and comparison between three types of controllers (regular consecutive compensator, integral modification and one equipped with anti-windup) are presented.