Abstract
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.
is also achieved. A few simulation results are presented to illustrate the behavior of our control designs.
Originalsprog | Engelsk |
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Tidsskrift | IEEE Journal of Oceanic Engineering |
Vol/bind | 39 |
Udgave nummer | 2 |
Sider (fra-til) | 256-268 |
Antal sider | 13 |
ISSN | 0364-9059 |
DOI | |
Status | Udgivet - apr. 2014 |