Optimal sail angle computation for an autonomous sailboat robot

@article{Saoud2015OptimalSA,
  title={Optimal sail angle computation for an autonomous sailboat robot},
  author={Hadi Saoud and Minh-Duc Hua and Fr{\'e}d{\'e}ric Plumet and Fa{\"i}z Ben Amar},
  journal={2015 54th IEEE Conference on Decision and Control (CDC)},
  year={2015},
  pages={807-813}
}
A method to compute the optimal sail angle for an autonomous sailboat is proposed, which allows for maximizing the longitudinal velocity while maintaining safe sailing conditions by limiting the roll angle. A simplified 4-DOF dynamic model of the sailboat is used to obtain the roll dynamics and longitudinal sail force. From these expressions, we derive a cost function which depends on the thrust force. The cost needs to be minimized under stability constraint in roll motion while the system is… CONTINUE READING