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Guaranteed Set-point Computation with Application to the Control of a Sailboat
Pau Herrero,Luc Jaulin,Josep Vehí,Miguel A. Sainz 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.1
The problem of characterizing in a guaranteed way the set of all feasible set-points of a control problem is known to be difficult. In the present work, the problem to be solved involves non-linear equality constraints with variables affected by logical quantifiers. This problem is not solvable by cur-rent symbolic methods like quantifier elimination, which is commonly used for solving this class of problems. We propose the utilization of guaranteed set-computation techniques based on interval analysis, in particular a solver referred to as Quantified Set Inversion (QSI). As an application example, the problem of simultaneously controlling the speed and the orientation of a sailboat is presented. For this purpose, the combination of QSI solver and feedback linearization techniques is employed.
Platooning Control for Sailboats Using a Tack Strategy
Christophe Viel,Ulysse Vautier,Jian Wan,Luc Jaulin 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.9
This paper addresses the problem of platooning control for a fleet of sailboats. A quadrilateral path is proposed to avoid going into the wind. A tack strategy is defined to go front the wind, stay in a short corridor and regulate the sailboat acceleration, which is a challenging task in comparison to autonomous underwater vehicles (AUVs) or surface vehicles that can use motors for such regulation. Desired acceleration which guarantees to reach the platooning has been derived and validated. A method of regulating the sail angle using a proportional command is proposed to control the sailboat acceleration. Simulation results demonstrate the effectiveness of the proposed approach.