Control Algorithms for a Sailboat Robot with a Sea Experiment

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8 Citations (Scopus)

Abstract

A sailboat robot is a highly nonlinear system but which control is relatively easy, however. Indeed, its mechanical design is the result of an evolution over thousands of years. This paper focuses on a control strategy which remains simple, with few parameters to adjust and meaningful with respect to the intuition. A test on the sailboat robot called Vaimos is presented to illustrate the performance of the regulator with a sea experiment. Moreover, the HardWare In the Loop (HWIL) methodology has been used for the validation of the embedded system. Last point is that this HWIL simulation compared to the real experiment is also a confirmation that the dynamic model used for control is correct.

Original languageEnglish
Title of host publication9th IFAC Conference on Control Applications in Marine Systems, CAMS 2013 - Proceedings
PublisherIFAC Secretariat
Pages19-24
Number of pages6
EditionPART 1
ISBN (Print)9783902823526
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event9th IFAC Conference on Control Applications in Marine Systems, CAMS 2013 - Osaka, Japan
Duration: 17 Sep 201320 Sep 2013

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number33
Volume46
ISSN (Print)1474-6670

Conference

Conference9th IFAC Conference on Control Applications in Marine Systems, CAMS 2013
Country/TerritoryJapan
CityOsaka
Period17/09/1320/09/13

Keywords

  • Autonomous vehicles
  • Marine systems
  • Nonlinear control
  • Sailboat

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