This paper presents the development and testing of an automatic control system for waypoint navigation in a solar boat, initially designed for manual operation. It covers the boat's modifications for automation, system identification through step response experiments, and control strategy implementation. The system includes a Base Controller for yaw rate and speed as well as a subsequent Waypoint Path Controller for navigation. Utilizing a nominal dynamic model of the boat, the Base Controller's design emphasizes robustness against parameter uncertainties, while the Waypoint Path Controller follows a conventional approach. The effectiveness of the system is validated with real driving tests.


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    Titel :

    Development and Validation of an Automatic Waypoint Navigation Control System for Watercrafts


    Beteiligte:
    Köthe, Alexander (Autor:in) / Guske, Oliver (Autor:in) / Martinen, Ivan (Autor:in) / Hopf, Janik (Autor:in) / Worrmann, Paul (Autor:in)

    Erscheinungsdatum :

    01.01.2024


    Anmerkungen:

    IFAC-PapersOnLine, 58, 25, S. 174-179


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Schlagwörter :

    Klassifikation :



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