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.
Development and Validation of an Automatic Waypoint Navigation Control System for Watercrafts
01.01.2024
IFAC-PapersOnLine, 58, 25, S. 174-179
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
ENHANCED STEERING CONTROL SYSTEM FOR PERSONAL WATERCRAFTS
Europäisches Patentamt | 2020
|ENHANCED STEERING CONTROL SYSTEM FOR PERSONAL WATERCRAFTS
Europäisches Patentamt | 2025
|