This paper addresses the problem of platooning control for a fleet of heterogeneous sailboats. The platooning maintains a constant time headway (CTH) between sailboats following a circular path, a complex problem for sailboats due to the influence of wind direction. First, the desired acceleration based on the CTH and the sailboat velocity needed to converge to the platooning is defined. Second, a control of sailboat orientation to manage the sailboat acceleration is proposed. The proposed platooning strategy adapts to the specific characteristics of sailboats, which are different from other motorized marine vehicles. Two tack strategies can be used for the method: the first is to regulate the sailboat velocity; the second is to go front of the wind while staying in a short corridor. The desired acceleration for fulfilling the platooning has been derived and validated. The simulation results demonstrate the effectiveness of the proposed approach in comparison with an optimal receding horizon control algorithm.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Platooning Control for Heterogeneous Sailboats Based on Constant Time Headway


    Beteiligte:
    Viel, Christophe (Autor:in) / Vautier, Ulysse (Autor:in) / Wan, Jian (Autor:in) / Jaulin, Luc (Autor:in)


    Erscheinungsdatum :

    01.05.2020


    Format / Umfang :

    2008166 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Lightning and sailboats

    Lundquist, S. | Tema Archiv | 1985


    Sailboats in 1976

    Edmunds,A. / Edmunds,A.,US | Kraftfahrwesen | 1976


    Sailboats in 1976

    Edmunds, Arthur | SAE Technical Papers | 1976


    Sailboats of the air

    Burton, W.E. | Engineering Index Backfile | 1930