Fuzzy Control For Self-steering Of A Sailboat

Yeh, E C; Bin, Jenn-Cherng

doi:10.1109/sicici.1992.637738

Cited by 23 publications

(10 citation statements)

References 1 publication

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“…As mentioned in Fossen [1995], and the references inside, the precise modeling is an difficult task due to fluidsolid interactions and do not answer to the robotician need which is a macroscopic model. In the literature, one can found various analytic models for sailboats control as Yeh and Binx [1992], Elkaim [2009], Briere [2008], Cruz and Alves [2010] but a simple state space representation has been chosen; it is based on Lagrangian Mechanics proposed in Jaulin [2004] with smooth modifications. The model equations are described in a section dedicated to modeling.…”

Section: Gnc (Guidance Nagigation Control) Simulation Experimentamentioning

confidence: 99%

Control Algorithms for a Sailboat Robot with a Sea Experiment

Clément

2013

IFAC Proceedings Volumes

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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.

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Section: Gnc (Guidance Nagigation Control) Simulation Experimentamentioning

confidence: 99%

Control Algorithms for a Sailboat Robot with a Sea Experiment

Clément

2013

IFAC Proceedings Volumes

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“…Despite this, and contrary to vehicles propelled by usual means such as propellers and thrusters, only a few studies were dedicated to automation of what we refer to as sailing vehicles, that is, our well-known sailboats, but also ships equipped with a kite, or landyachts. Many of these studies, for example [1][2][3], use as their main tool strategies from artificial intelligence that do not allow to use the dynamic models of sailing yachts available in the literature (see, e.g., [4][5][6]) for the design of control strategies. Other references, such as [7] or [8], consider more traditional control approaches, but use only linear approximations, and thereby neglect fundamental dynamical effects related to maneuvers in sailing (tacking, jibing), which are inherently nonlinear.…”

Section: Introductionmentioning

confidence: 99%

On Motion Planning for Point‐to‐Point Maneuvers for a Class of Sailing Vehicles

Xiao

Jouffroy

2011

Journal of Control Science and Engineering

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Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. In this paper, we investigate motion planning of such vehicles. Starting from a simple dynamic model of sailing vessels in one dimension, this paper first considers their associated controllability issues, with the so-called no-sailing zone as a starting point, and it links them with a motion planning strategy using two-point boundary value problems as the main mathematical tool. This perspective is then expanded to do point-to-point maneuvers of sailing vehicles in the plane, that is, automatic path generation combined with computation of control input profiles. Simulations are presented to illustrate the potential of the approach.

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“…Among these vehicles, one can obviously think of the well-known sailboats, but other vehicles, also evolving on a surface, such as kite-buggies or landyachts, share the same basic dynamic properties of sailing vessels. Most studies on these vehicles, such as [13], consider Arti cial Intelligencebased techniques for the control strategies and do not make use of the available dynamic models that would allow for further analysis to assess for example stability or performance. Another reference, [12], adopts a more traditional model-based perspective, but its control design is solely based on a linear model structure, thus not allowing for the study of dynamical aspects and maneuvers that are speci c to sailing vehicles, such as tacking, jibing or wearing.…”

Section: Introductionmentioning

confidence: 99%

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

Jouffroy

2009

2009 IEEE International Conference on Systems, Man and Cybernetics

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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 simpli ed 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.

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Fuzzy Control For Self-steering Of A Sailboat

Cited by 23 publications

References 1 publication

Control Algorithms for a Sailboat Robot with a Sea Experiment

Control Algorithms for a Sailboat Robot with a Sea Experiment

On Motion Planning for Point‐to‐Point Maneuvers for a Class of Sailing Vehicles

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

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