Towards the development of an autonomous sailboat: Modelling and simulation of a small autonomous sailboat
This paper presents the mathematical modelling and system identification of a Dragonflite 95 radio-controlled sailboat. The corresponding model will be used in a simulation of the control systems of the sailboat. The mathematical model is based on Fossen’s compact ocean vessel model and adds models...
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| Format: | Article |
| Language: | English |
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EDP Sciences
2024-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | https://www.matec-conferences.org/articles/matecconf/pdf/2024/18/matecconf_rapdasa2024_04006.pdf |
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| _version_ | 1846125717320892416 |
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| author | van Tonder Ruben Engelbrecht Jacobus Adriaan Albertus Versfeld Jaco |
| author_facet | van Tonder Ruben Engelbrecht Jacobus Adriaan Albertus Versfeld Jaco |
| author_sort | van Tonder Ruben |
| collection | DOAJ |
| description | This paper presents the mathematical modelling and system identification of a Dragonflite 95 radio-controlled sailboat. The corresponding model will be used in a simulation of the control systems of the sailboat. The mathematical model is based on Fossen’s compact ocean vessel model and adds models for environmental disturbances and actuators. Numerical methods were used to estimate the parameters of the physical sailboat. The simulation model was developed and implemented in MATLAB Simulink. Experiments were performed to verify that the simulated behaviour of the Simulink model agrees with the practical behaviour of the physical sailboat. |
| format | Article |
| id | doaj-art-c4aa7aff91d04503be3410ec32b40f6d |
| institution | Kabale University |
| issn | 2261-236X |
| language | English |
| publishDate | 2024-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj-art-c4aa7aff91d04503be3410ec32b40f6d2024-12-13T10:05:39ZengEDP SciencesMATEC Web of Conferences2261-236X2024-01-014060400610.1051/matecconf/202440604006matecconf_rapdasa2024_04006Towards the development of an autonomous sailboat: Modelling and simulation of a small autonomous sailboatvan Tonder Ruben0Engelbrecht Jacobus Adriaan Albertus1Versfeld Jaco2Department of Electrical and Electronic Engineering, Stellenbosch UniversityDepartment of Electrical and Electronic Engineering, Stellenbosch UniversityDepartment of Electrical and Electronic Engineering, Stellenbosch UniversityThis paper presents the mathematical modelling and system identification of a Dragonflite 95 radio-controlled sailboat. The corresponding model will be used in a simulation of the control systems of the sailboat. The mathematical model is based on Fossen’s compact ocean vessel model and adds models for environmental disturbances and actuators. Numerical methods were used to estimate the parameters of the physical sailboat. The simulation model was developed and implemented in MATLAB Simulink. Experiments were performed to verify that the simulated behaviour of the Simulink model agrees with the practical behaviour of the physical sailboat.https://www.matec-conferences.org/articles/matecconf/pdf/2024/18/matecconf_rapdasa2024_04006.pdf |
| spellingShingle | van Tonder Ruben Engelbrecht Jacobus Adriaan Albertus Versfeld Jaco Towards the development of an autonomous sailboat: Modelling and simulation of a small autonomous sailboat MATEC Web of Conferences |
| title | Towards the development of an autonomous sailboat: Modelling and simulation of a small autonomous sailboat |
| title_full | Towards the development of an autonomous sailboat: Modelling and simulation of a small autonomous sailboat |
| title_fullStr | Towards the development of an autonomous sailboat: Modelling and simulation of a small autonomous sailboat |
| title_full_unstemmed | Towards the development of an autonomous sailboat: Modelling and simulation of a small autonomous sailboat |
| title_short | Towards the development of an autonomous sailboat: Modelling and simulation of a small autonomous sailboat |
| title_sort | towards the development of an autonomous sailboat modelling and simulation of a small autonomous sailboat |
| url | https://www.matec-conferences.org/articles/matecconf/pdf/2024/18/matecconf_rapdasa2024_04006.pdf |
| work_keys_str_mv | AT vantonderruben towardsthedevelopmentofanautonomoussailboatmodellingandsimulationofasmallautonomoussailboat AT engelbrechtjacobusadriaanalbertus towardsthedevelopmentofanautonomoussailboatmodellingandsimulationofasmallautonomoussailboat AT versfeldjaco towardsthedevelopmentofanautonomoussailboatmodellingandsimulationofasmallautonomoussailboat |