Output robust control with anti-windup compensation for robotic boat

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 integral loop, 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 efficiency of the proposed algorithm was illustrated by the experimental approval using the robotic boat setup. The comparison between three types of controllers (regular consecutive compensator, integral modification and one equipped with anti-windup) is presented.