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Published:
Apr 14, 1995Keywords:
Autopilot Adaptive Control Yacht Dynamics Sea Dynamics Computer Simulation
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The copyright of a submitted article is only transferred to the publishers if and when the article is accepted for publication. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic, electrostatic, mechanical, photocopying, recording or otherwise without the prior written permission of the publishers.
Main Article Content
An Adaptive Auto Pilot for a Sailing Yacht
Abstract
The paper reports the design and software implementation of an adaptive autopilot for a sailing yacht. The method adopts an extended Kalman filter to estimate time varying system parameters. The estimator is combined with a weighted control minimum variance controller to ensure both efficient course keeping and optimal response to course alterations. Simulation results are presented to demonstrate the performance of the autopilot on a number of simulated models. The results presented show that the proposed autopilot works well for time varying system models subjected to sea disturbances.
