Modeling and nonlinear heading control for sailing yachts

Lin Xiao, Jerome Jouffroy

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


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.
Original languageEnglish
Title of host publicationOCEANS 2011, MTS/IEEE
Number of pages6
Publication date2011
ISBN (Print)978-1-4577-1427-6
Publication statusPublished - 2011


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