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Optimal sail angle computation for an autonomous sailboat robot
2015
2015 54th IEEE Conference on Decision and Control (CDC)
A method to compute the optimal sail angle for an autonomous sailboat is proposed, which allows for maximizing the longitudinal velocity while maintaining safe sailing conditions by limiting the roll angle. A simplified 4-DOF dynamic model of the sailboat is used to obtain the roll dynamics and longitudinal sail force. From these expressions, we derive a cost function which depends on the thrust force. The cost needs to be minimized under stability constraint in roll motion while the system is
doi:10.1109/cdc.2015.7402329
dblp:conf/cdc/SaoudHPA15
fatcat:xyni7nycqbhczpf47tq45vtosu