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

Jerome Jouffroy

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

Jerome Jouffroy

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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 language	English
Title of host publication	Proceedings of the IEEE International Conference on Systems, Man, Cybernetics
Number of pages	6
Publisher	IEEE
Publication date	2009
Publication status	Published - 2009
Event	IEEE International Conference on Systems, Man, Cybernetics - San Antonio, United States Duration: 11. Oct 2009 → 14. Oct 2009

Conference

Conference	IEEE International Conference on Systems, Man, Cybernetics
Country/Territory	United States
City	San Antonio
Period	11/10/2009 → 14/10/2009

Keywords

Nonlinear control
sailing vehicles
Cybersailing

Documents & Links

Jouffroy-2009smcSubmitted manuscript, 978 KB

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Cite this

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title = "A control strategy for steering an autonomous surface sailing vehicle in a tacking maneuver",

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.",

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booktitle = "Proceedings of the IEEE International Conference on Systems, Man, Cybernetics",

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AB - 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.

KW - Nonlinear control

KW - sailing vehicles

KW - Cybersailing

M3 - Article in proceedings

BT - Proceedings of the IEEE International Conference on Systems, Man, Cybernetics

PB - IEEE

T2 - IEEE International Conference on Systems, Man, Cybernetics

Y2 - 11 October 2009 through 14 October 2009

ER -