Modeling and Nonlinear Heading Control of Sailing Yachts

  title={Modeling and Nonlinear Heading Control of Sailing Yachts},
  author={Lin Xiao and J{\'e}r{\^o}me Jouffroy},
  journal={IEEE Journal of Oceanic Engineering},
This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. Using Fossen's compact notation for marine vehicles, we first describe a nonlinear four-degree-of-freedom (DOF) dynamic model for a sailing yacht, including roll. Our model also includes two possible steering mechanisms: a conventional rudder… CONTINUE READING