Abstract
This paper presents a method to obtain a full 6 degrees of freedom dynamic model of a robotic sailing boat starting from the description of forces and torques acting on it. A general 6-DOF model is first described and then simplified to obtain a 3-DOF control-oriented one. Relying on it, a rudder controller and a sail’s trimming calculator are proposed. This controller has been validated using a numerical implementation of the proposed dynamic model.
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© 2014 Springer International Publishing Switzerland
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Saoud, H., Hua, MD., Plumet, F., Ben Amar, F. (2014). Modeling and Control Design of a Robotic Sailboat. In: Bars, F., Jaulin, L. (eds) Robotic Sailing 2013. Springer, Cham. https://doi.org/10.1007/978-3-319-02276-5_8
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DOI: https://doi.org/10.1007/978-3-319-02276-5_8
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-02275-8
Online ISBN: 978-3-319-02276-5
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