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Position keeping control of an autonomous sailboat
- Source :
- 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018, 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018, Sep 2018, Opatija, Croatia. pp.14-19, ⟨10.1016/j.ifacol.2018.09.462⟩
- Publication Year :
- 2018
- Publisher :
- HAL CCSD, 2018.
-
Abstract
- International audience; This paper addresses the problem of reaching and keeping a target position for a sailboat. A method to control sail angle is proposed, using an adaptive adjustment of the sail to regulate the acceleration of the sailboat. A tacking strategy is defined to navigate into the wind, arrive upwind to slow down the boat and then to stay close to the target point. Simulation results show the effectiveness of the proposed approach. The stability of the sailboat using the proposed control has been proven.
- Subjects :
- 0209 industrial biotechnology
010505 oceanography
Computer science
Control (management)
02 engineering and technology
Nonlinear control
01 natural sciences
Stability (probability)
autonomous sailboat
Acceleration
020901 industrial engineering & automation
non-linear control
Control and Systems Engineering
Position (vector)
Control theory
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering
Position keeping
Point (geometry)
Tacking
0105 earth and related environmental sciences
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018, 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018, Sep 2018, Opatija, Croatia. pp.14-19, ⟨10.1016/j.ifacol.2018.09.462⟩
- Accession number :
- edsair.doi.dedup.....6796bac0a31c4a6534a1d6732d3f8b06
- Full Text :
- https://doi.org/10.1016/j.ifacol.2018.09.462⟩