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

Authors:
Jerome Jouffroy
Affiliations:
Mads Clausen Institute, University of Southern Denmark, Sønderborg, Denmark
Venue:
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Year:
2009

Citing 4
Cited 1

Mathematical control theory: deterministic finite dimensional systems (2nd ed.)

Mathematical control theory: deterministic finite dimensional systems (2nd ed.)
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On motion planning for point-to-point maneuvers for a class of sailing vehicles

Journal of Control Science and Engineering

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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 simplified 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.