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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    Title :

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


    Contributors:

    Publication date :

    2024-01-01


    Remarks:

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


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Keywords :

    Classification :



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