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

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Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man, Cybernetics
Number of pages6
PublisherIEEE
Publication date2009
Publication statusPublished - 2009
EventIEEE International Conference on Systems, Man, Cybernetics - San Antonio, United States
Duration: 11. Oct 200914. Oct 2009

Conference

ConferenceIEEE International Conference on Systems, Man, Cybernetics
Country/TerritoryUnited States
CitySan Antonio
Period11/10/200914/10/2009

Keywords

  • Nonlinear control
  • sailing vehicles
  • Cybersailing

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