Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Automatic Control and Computer Sciences
Published in: Automatic Control and Computer Sciences 5/2019

01-09-2019

Autopilot Design for an Autonomous Sailboat Based on Sliding Mode Control

Authors: Helmi Abrougui, Habib Dallagi, Samir Nejim

Published in: Automatic Control and Computer Sciences | Issue 5/2019

Login to get access

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

This paper deals with the design of an autopilot based on sliding mode control combined with feedback linearization method for an autonomous sailing vessel. This autopilot is developed using a model with four degrees of freedom, which represents the dynamic of a sailboat. Due to the high nonlinearity of the developed dynamic model, heading and sail opening angle controller were developed to steer the sailboat toward a specific target position. The nonlinear four degrees of freedom dynamic model for the sailing vessel is first described. Then, an autopilot is designed using both sliding mode control and feedback linearization method. Finally, some simulations are carried out to illustrate the behavior of the overall system.
previous article Approach to Presenting Network Infrastructure of Cyberphysical Systems to Minimize the Cyberattack Neutralization Time
next article Parameter Identification of Induction Motor by Using Cooperative-Coevolution and a Nonlinear Estimator
Appendix
Available only for authorised users
Footnotes
1
The sailboat tacks that is sails on alternating sides of the wind and therefore advances towards the wind. This is the most complex case, testing the interaction between all parts of the model, especially rudder and sail forces.
 
Literature
1.
Erckens, H., Beusser, G.-A., Pradalier, C., and Siegwart, R.Y., Avalon, IEEE Rob. Autom. Mag., 2010, vol. 17, no 1, pp. 45–54.CrossRef
2.
Le Bars, F. and Jaulin, L., An experimental validation of a robust controller with the VAIMOS autonomous sailboat, Robotic Sailing 2012: Proceedings of the 5th International Robotic Sailing Conference, 2013, pp. 73–84.
3.
Neal, M., A hardware proof of concept of a sailing robot for ocean observation, IEEE J. Oceanic Eng., 2006, vol. 31, no. 2, pp. 462–469.CrossRef
4.
Fossen, T., Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons, 2011.CrossRef
5.
Jouffroy, J., A control strategy for steering an autonomous surface sailing vehicle in a tacking maneuver, IEEE International Conference Systems, Man and Cybernetics, 2009, pp. 2391–2396.
6.
Abrougui, H. and Nejim, S., Sliding mode control of an autonomous sailboat, 5th International Conference on Green Energy and Environmental Engineering GEEE, Sousse, 2018, vol. 37, pp. 19–24.
7.
Lin Xiao and Jouffroy, J., Modeling and nonlinear heading control of sailing yachts, IEEE J. Oceanic Eng., 2014, vol. 39, no. 2, pp. 256–268.CrossRef
8.
Bin Yang, Lin Xiao, and Jouffroy, J., A control-theoretic outlook at the no-go zone in sailing vessels, OCEANS’11 MTS/IEEE KONA, 2011, pp. 1–7.
9.
Legursky, K., A modified model, simulation, and tests of a full-scale sailing yacht, 2012Oceans, 2012.
10.
Briere, Y., Iboat: An autonomous robot for long-term offshore operation, The 14th IEEE Mediterranean Electrotechnical Conference,2008. MELECON 2008, 2008, pp. 323–329.
11.
Yeh, E.C. and Jenn-Cherng Bin, Fuzzy control for self-steering of a sailboat, Singapore International Conference on Intelligent Control and Instrumentation,1992.SICICI’92.Proceedings, IEEE, 1992, pp. 1339–1344.
12.
Stelzer, R., Proll, T., and John, R.I., Fuzzy logic control system for autonomous sailboats, 2007 IEEE International Fuzzy Systems Conference, 2007, pp. 1–6.
13.
Treichel, K. and Jouffroy, J., Real-time sail and heading optimization for a surface sailing vessel by extremum seeking control, 55th International Scientific Colloquium (IWK), Ilmenau, 2010.
14.
Cruz, N.A. and Alves, J.C., Navigation performance of an autonomous sailing robot, 2014 Oceans–St. John’s, 2014.
15.
Romero-Ramirez, M.-A., Contribution à la commande de voiliers robotizes, Thèse de Doctorat, Paris, 2012.
16.
Gomes, L., Santos, M., Pereira, T., et al., Model-based development of an autonomous sailing yacht controller, IEEE International Conference: Autonomous Robot Systems and Competitions (ICARSC), 2015, pp. 103–108.
17.
Xiao, K., Sliwka, J., and Jaulin, L., A wind-independent control strategy for autonomous sailboats based on Voronoi diagram, Proceedings of CLAWAR 2011: The 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2011, pp. 109–123.
18.
Qian Wang, Mengqi Kang, Jinsong Xu, et al., Autonomous sailboat track following control, Robotic Sailing 2015, Cham, 2016, pp. 125–136.
19.
Jaulin, L., Modelisation et commande dun bateau a voile, Proceedings of 3rd Conference Internationale Francophone d’Automatique, Douz, 2004.
20.
Jaulin, L., Le Bars, F., Clement, B., et al., Suivi de route pour un robot voilier, Conférence Internationale Francophone d’Automatique CIFA, 2012, pp. 695–702.
21.
Melin, J., Modeling, Control and State-Estimation for an Autonomous Sailboat, 2015.
22.
Fossen, T., Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons, 2011.CrossRef
23.
Le Bars, F., Jaulin, L., and Ménage, O., Suivi de ligne pour un voilier: Application au robot voilier autonome VAIMOS pour l’océanographie, J. Démonstrateurs, 2013.
24.
Jaulin, L. and Le Bars, F., A simple controller for line following of sailboats, Robotic Sailing 2012, 2013, pp. 117–129.
Metadata
Title
Autopilot Design for an Autonomous Sailboat Based on Sliding Mode Control
Authors
Helmi Abrougui
Habib Dallagi
Samir Nejim
Publication date
01-09-2019
Publisher
Pleiades Publishing
Published in
Automatic Control and Computer Sciences / Issue 5/2019
Print ISSN: 0146-4116
Electronic ISSN: 1558-108X
DOI
https://doi.org/10.3103/S0146411619050031

Other articles of this Issue 5/2019

Automatic Control and Computer Sciences 5/2019 Go to the issue

OriginalPaper

MAD-based Estimation of the Noise Level in the Contourlet Domain

OriginalPaper

Approach to Presenting Network Infrastructure of Cyberphysical Systems to Minimize the Cyberattack Neutralization Time

OriginalPaper

Parameter Identification of Induction Motor by Using Cooperative-Coevolution and a Nonlinear Estimator

OriginalPaper

ELM_Kernel and Wavelet Packet Decomposition Based EEG Classification Algorithm

Erratum

Erratum to: Estimating the Speed of an Integrated Wireless Network for Transportation Applications

OriginalPaper

Self-optimization of Handover Control Parameters for Mobility Management in 4G/5G Heterogeneous Networks