Position keeping control of an autonomous sailboat

Christope Viel; Ulysse Vautier; Jian Wan; Luc Jaulin

doi:10.1016/j.ifacol.2018.09.462

Position keeping control of an autonomous sailboat

Christope Viel, Ulysse Vautier, Jian Wan, Luc Jaulin

Mechanical, Biomedical & Design Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

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.

Original language	English
Pages (from-to)	14-19
Journal	IFAC-PapersOnLine
Volume	51
Issue number	29
DOIs	https://doi.org/10.1016/j.ifacol.2018.09.462
Publication status	Published - 11 Oct 2018

Keywords

Position keeping
autonomous sailboat
non-linear control

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10.1016/j.ifacol.2018.09.462

http://hdl.handle.net/10026.1/13168Licence: Unspecified

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abstract = "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.",

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AU - Jaulin, Luc

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N2 - 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.

AB - 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.

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KW - non-linear control

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Position keeping control of an autonomous sailboat

Abstract

Keywords

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