Modeling and nonlinear heading control for sailing yachts

Lin Xiao, Jerome Jouffroy

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

Resumé

This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. Using Fossen’s compact notation for marine vehicles, we first describe a nonlinear four-degree-of-freedom (DOF) dynamic model for a sailing yacht, including roll. Our model also includes two possible steering mechanisms: a conventional rudder and a simple moving mass system. Starting from this model, we then design, for both steering mechanisms, a nonlinear heading controller using the integrator backstepping method,which exponentially stabilizes the heading/yaw dynamics. By computing the equilibrium points of the system, the course is related to the heading angle, and course control
is also achieved. A few simulation results are presented to illustrate the behavior of our control designs.
OriginalsprogEngelsk
TidsskriftI E E E Journal of Oceanic Engineering
Vol/bind39
Udgave nummer2
Sider (fra-til)256-268
Antal sider13
ISSN0364-9059
DOI
StatusUdgivet - 2014

Fingeraftryk

Yachts
Controllers
Backstepping
Dynamic models
Testing

Citer dette

Xiao, Lin ; Jouffroy, Jerome. / Modeling and nonlinear heading control for sailing yachts. I: I E E E Journal of Oceanic Engineering. 2014 ; Bind 39, Nr. 2. s. 256-268.
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Modeling and nonlinear heading control for sailing yachts. / Xiao, Lin; Jouffroy, Jerome.

I: I E E E Journal of Oceanic Engineering, Bind 39, Nr. 2, 2014, s. 256-268.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

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