| This thesis presents the development and performance analysis of several control techniques to be used for autonomous surface navigation. The goal is to identify the best control system to use alongside the Celestial Navigation Algorithm (CelNav), a self-contained method of position determination that utilizes a star tracker and 3-axis accelerometer. The controllers surveyed include: a Proportional-Integral-Derivative Control, Linear-Quadratic Regulator, H-Infinity Control, Fuzzy-Linear Quadratic Regulator, and Sliding Mode Control. Controllers are tested analytically using numerical simulation software, and implemented on an experimental test bed. The top performers are the SMC and PID controllers, with the final choice dependent on the cost function to be optimized. |
