Abstract

A track following controller for autonomous sailboat was developed and applied to a 1.5 m sailboat experiment. There are three modules inside the controller. The module of Local Path Strategy determines the turning process along the specified track. The module of Sail Automatic Control employs the relationship between the sail angle and the apparent wind to achieve the optimal wind drive. The module of Rudder Automatic Control is based on 245 pieces of fuzzy logic rules summarized from the general steering experiences. The lake testing demonstrates the effectiveness of the track following controller in various wind conditions. It has potential for actual application in long-range autonomous sailing.

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