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dc.contributor.authorviel, christophe
dc.contributor.authorVautier, Ulysse
dc.contributor.authorWan, Jian
dc.contributor.authorJaulin, L
dc.date.accessioned2019-05-03T09:28:24Z
dc.date.available2019-05-03T09:28:24Z
dc.date.issued2019-05-01
dc.identifier.issn1524-9050
dc.identifier.issn1558-0016
dc.identifier.other0
dc.identifier.urihttp://hdl.handle.net/10026.1/13771
dc.description.abstract

This paper addresses the problem of platooning control for a fleet of heterogeneous sailboats. The platooning maintains a constant time headway (CTH) between sailboats following a circular path, a complex problem for sailboats due to the influence of wind direction. First, the desired acceleration based on the CTH and the sailboat velocity needed to converge to the platooning is defined. Second, a control of sailboat orientation to manage the sailboat acceleration is proposed. The proposed platooning strategy adapts to the specific characteristics of sailboats, which are different from other motorized marine vehicles. Two tack strategies can be used for the method: the first is to regulate the sailboat velocity; the second is to go front of the wind while staying in a short corridor. The desired acceleration for fulfilling the platooning has been derived and validated. The simulation results demonstrate the effectiveness of the proposed approach in comparison with an optimal receding horizon control algorithm.

dc.format.extent2078-2089
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.subjectWind
dc.subjectVehicle dynamics
dc.subjectAcceleration
dc.subjectHeuristic algorithms
dc.subjectTrajectory
dc.subjectOptimization
dc.subjectAdaptation models
dc.subjectPlatooning
dc.subjectautonomous sailboats
dc.subjectnon-linear control
dc.subjectheterogeneous fleet
dc.titlePlatooning Control for Heterogeneous Sailboats Based on Constant Time Headway
dc.typejournal-article
dc.typeJournal Article
plymouth.author-urlhttps://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000532285400021&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008
plymouth.issue5
plymouth.volume21
plymouth.publication-statusPublished
plymouth.journalIEEE Transactions on Intelligent Transportation Systems
dc.identifier.doi10.1109/tits.2019.2912389
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.dateAccepted2019-04-14
dc.rights.embargodate2020-1-16
dc.identifier.eissn1558-0016
dc.rights.embargoperiodNot known
rioxxterms.funderEPSRC
rioxxterms.identifier.projectHybrid Set-theoretic Approaches for Constrained Control and Estimation with Applications to Autonomous Sailing Boats
rioxxterms.versionofrecord10.1109/tits.2019.2912389
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserved
rioxxterms.licenseref.startdate2019-05-01
rioxxterms.typeJournal Article/Review
plymouth.funderHybrid Set-theoretic Approaches for Constrained Control and Estimation with Applications to Autonomous Sailing Boats::EPSRC


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