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

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1 Author(s)
Jouffroy, J. ; Mads Clausen Inst., Univ. of Southern Denmark (SDU), Sonderborg, Denmark

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.

Published in:

Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on

Date of Conference:

11-14 Oct. 2009