Modeling and nonlinear heading control for sailing yachts

Lin Xiao, Jerome Jouffroy

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

Abstrakt

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 4-DOF dynamic model for a sailing yacht, including roll. Starting from this model, we then design a nonlinear heading controller using the integrator backstepping method, which asymptotically stabilizes the system to the heading/yaw dynamics. Additionally, we present a few simulation results to illustrate the behavior of our control designs.
OriginalsprogEngelsk
TitelOCEANS 2011, MTS/IEEE
Antal sider6
Publikationsdato2011
ISBN (Trykt)978-1-4577-1427-6
StatusUdgivet - 2011

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