Robust control of a vessel using camera feedback and extended Kalman filter

Mehdi Nikkhah, Hashem Ashrafiuon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents the implementation of a robust position tracking control law for an underactuated autonomous surface vessel. The robust control law is developed based on the sliding mode approach where a first order sliding surface is defined in terms of surge and a second order one in terms of lateral motion tracking errors. The control law uses a simple three-degree-of-freedom planar vessel model with two actuator inputs. The vessel is a small model boat with two propellers in a small indoor pool. The position and orientation of the boat is measured using a camera and with two infrared diodes attached the front and end of the boat. An Extended Kalman Filter is designed to estimate all the unmeasured states and filter out the measurement noise. A computer with controller board processes the camera image, calculates the control inputs, and sends the control signal to a two channel wireless receiver on the vessel using a wireless transmitter. The relationship between the distorted camera image and the vessel actual position as well as the relation between motor input voltage and propeller force are derived through experimental calibrations. An experiment is performed where the vessel follows a predefined straight-line trajectory.

Original languageEnglish (US)
Title of host publicationProceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)0791837904, 9780791837900
DOIs
StatePublished - Jan 1 2006
Externally publishedYes
Event2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Chicago, IL, United States
Duration: Nov 5 2006Nov 10 2006

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
ISSN (Print)1071-6947

Other

Other2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006
CountryUnited States
CityChicago, IL
Period11/5/0611/10/06

ASJC Scopus subject areas

  • Mechanical Engineering
  • Software

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    Nikkhah, M., & Ashrafiuon, H. (2006). Robust control of a vessel using camera feedback and extended Kalman filter. In Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2006-16164