Control Algorithms for a Sailboat Robot with a Sea Experiment - Département STIC Accéder directement au contenu
Communication Dans Un Congrès Année : 2013

Control Algorithms for a Sailboat Robot with a Sea Experiment

Benoit Clement

Résumé

A sailboat robot is a highly nonlinear system but which control is relatively easy, however. Indeed, its mechanical design is the result of an evolution over thousands of years. This paper focuses on a control strategy which remains simple, with few parameters to adjust and meaningful with respect to the intuition. A test on the sailboat robot called Vaimos is presented to illustrate the performance of the regulator with a sea experiment. Moreover, the HardWare In the Loop (HWIL) methodology has been used for the validation of the embedded system. Last point is that this HWIL simulation compared to the real experiment is also a confirmation that the dynamic model used for control is correct.
Fichier principal
Vignette du fichier
clement.pdf (1.65 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00870579 , version 1 (07-10-2013)

Identifiants

  • HAL Id : hal-00870579 , version 1

Citer

Benoit Clement. Control Algorithms for a Sailboat Robot with a Sea Experiment. Conference on Control Applications in Marine Systems, Sep 2013, Osaka, Japan. ⟨hal-00870579⟩
308 Consultations
1495 Téléchargements

Partager

Gmail Facebook X LinkedIn More