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.
|Titel||Proceedings of the IEEE International Conference on Systems, Man, Cybernetics|
|Status||Udgivet - 2009|
|Begivenhed||IEEE International Conference on Systems, Man, Cybernetics - San Antonio, USA|
Varighed: 11. okt. 2009 → 14. okt. 2009
|Konference||IEEE International Conference on Systems, Man, Cybernetics|
|Periode||11/10/2009 → 14/10/2009|