Position keeping control of an autonomous sailboat
| dc.contributor.author | viel, christophe | |
| dc.contributor.author | Vautier, U | |
| dc.contributor.author | Wan, Jian | |
| dc.contributor.author | Jaulin, L | |
| dc.date.accessioned | 2019-01-21T09:40:52Z | |
| dc.date.available | 2019-01-21T09:40:52Z | |
| dc.date.issued | 2018-10-11 | |
| dc.identifier.issn | 2405-8963 | |
| dc.identifier.issn | 2405-8963 | |
| dc.identifier.uri | http://hdl.handle.net/10026.1/13168 | |
| dc.description.abstract |
This paper addresses the problem of reaching and keeping a target position for a sailboat. A method to control sail angle is proposed, using an adaptive adjustment of the sail to regulate the acceleration of the sailboat. A tacking strategy is defined to navigate into the wind, arrive upwind to slow down the boat and then to stay close to the target point. Simulation results show the effectiveness of the proposed approach. The stability of the sailboat using the proposed control has been proven. | |
| dc.format.extent | 14-19 | |
| dc.language.iso | en | |
| dc.publisher | Elsevier BV | |
| dc.subject | Position keeping | |
| dc.subject | autonomous sailboat | |
| dc.subject | non-linear control | |
| dc.title | Position keeping control of an autonomous sailboat | |
| dc.type | conference | |
| dc.type | Conference Proceeding | |
| plymouth.author-url | http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000447025400004&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008 | |
| plymouth.issue | 29 | |
| plymouth.volume | 51 | |
| plymouth.publication-status | Published | |
| plymouth.journal | IFAC PAPERSONLINE | |
| dc.identifier.doi | 10.1016/j.ifacol.2018.09.462 | |
| plymouth.organisational-group | /Plymouth | |
| plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering | |
| plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics | |
| plymouth.organisational-group | /Plymouth/Users by role | |
| plymouth.organisational-group | /Plymouth/Users by role/Academics | |
| plymouth.organisational-group | /Plymouth/Users by role/Researchers in ResearchFish submission | |
| dcterms.dateAccepted | 2018-05-13 | |
| dc.rights.embargodate | 2019-7-6 | |
| dc.identifier.eissn | 2405-8963 | |
| dc.rights.embargoperiod | Not known | |
| rioxxterms.funder | EPSRC | |
| rioxxterms.identifier.project | Hybrid Set-theoretic Approaches for Constrained Control and Estimation with Applications to Autonomous Sailing Boats | |
| rioxxterms.versionofrecord | 10.1016/j.ifacol.2018.09.462 | |
| rioxxterms.licenseref.uri | http://www.rioxx.net/licenses/all-rights-reserved | |
| rioxxterms.licenseref.startdate | 2018-10-11 | |
| rioxxterms.type | Conference Paper/Proceeding/Abstract | |
| plymouth.funder | Hybrid Set-theoretic Approaches for Constrained Control and Estimation with Applications to Autonomous Sailing Boats::EPSRC |
