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.
DOI
10.1016/j.ifacol.2018.09.462
Publication Date
2018-10-11
Publication Title
IFAC PAPERSONLINE
Volume
51
Issue
29
Publisher
Elsevier BV
ISSN
2405-8963
Embargo Period
2024-11-22
Additional Links
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000447025400004&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008
Keywords
Position keeping, autonomous sailboat, non-linear control
First Page
14
Last Page
19
Recommended Citation
Viel, C., Vautier, U., Wan, J., & Jaulin, L. (2018) 'Position keeping control of an autonomous sailboat', IFAC PAPERSONLINE, 51(29), pp. 14-19. Elsevier BV: Available at: https://doi.org/10.1016/j.ifacol.2018.09.462
