A control strategy for steering an autonomous surface sailing vehicle in a tacking maneuver

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

278 Downloads (Pure)

Abstrakt

Sailing vessels such as sailboats but also landyachts are vehicles representing a real challenge for automation. However, the control aspects of such vehicles were hitherto very little studied. This paper presents a simplied dynamic model of a so-called landyacht allowing to capture the main elements of the behavior of surface sailing vessels. We then propose a path generation scheme and a controller design for a well-known and fundamental maneuver in sailing referred to as tacking. Simulation results are presented to illustrate the approach.

OriginalsprogEngelsk
TitelProceedings of the IEEE International Conference on Systems, Man, Cybernetics
Antal sider6
ForlagIEEE
Publikationsdato2009
StatusUdgivet - 2009
BegivenhedIEEE International Conference on Systems, Man, Cybernetics - San Antonio, USA
Varighed: 11. okt. 200914. okt. 2009

Konference

KonferenceIEEE International Conference on Systems, Man, Cybernetics
LandUSA
BySan Antonio
Periode11/10/200914/10/2009

Citationsformater