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Modeling and Control of Autonomous Sailing Boats


D. Krammer

Master Thesis, HS123 (10325)

We derive a 4 degree-of-freedom nonlinear model of a sailboat from rst principles. The model is used to compute an approximation of the speed-optimal steady-states as a function of heading. We propose a gain scheduled MPC approach to steer the boat to such steady states. The proposed MPC controller actuates both the rudder and the main sail and guarantees constraint satisfaction. The proposed controller is tested on the full nonlinear model and its stability is empirically veri ed. We show examples that demonstrate that this approach can be used to follow prede ned trajectories such as those regularly found on regatta courses. iii


Type of Publication:

(12)Diploma/Master Thesis

M. Colombino

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4784
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