Modeling and Control Design of a Robotic Sailboat
作者： Hadi Saoud , Minh-Duc Hua , Frédéric Plumet , Faïz Ben Amar
DOI: 10.1007/978-3-319-02276-5_8
关键词: Control (management) 、 Aerodynamic force 、 Control theory 、 Trimming 、 Computer science 、 Calculator 、 Inertial frame of reference 、 Rudder 、 Control theory 、 Torque
摘要: This paper presents a method to obtain full 6 degrees of freedom dynamic model robotic sailing boat starting from the description forces and torques acting on it. A general 6-DOF is first described then simplified 3-DOF control-oriented one. Relying it, rudder controller sail’s trimming calculator are proposed. has been validated using numerical implementation proposed model.
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