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Modeling, control and state-estimation for an autonomous sailboat
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control.
2015 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

During long time missions with autonomous sailboats electrical power is a limited resource. When making evaluations of power saving strategies it is important to have a good platform for simulations and experiments. In this thesis a model of a four meters long autonomous sailboat is presented and parameterized, several control strategies are developed and evaluated and state estimation algorithms for the wind and the sailboat are developed, all with the purpose of future studies of power management.

The model that is used captures the main characteristics of a sailboat quite well, it is possible to use the model for controller development and state estimation. The model and the controllers are evaluated using simulations and experiments. The control strategy and state estimation algorithms shows promising results, but more experiments are needed to verify that simulations and the experiments are consistent in all conditions.

Place, publisher, year, edition, pages
2015. , 42 p.
UPTEC F, ISSN 1401-5757 ; 15053
Keyword [en]
sailboat, autonomous sailing, extended kalman filter
National Category
Control Engineering
URN: urn:nbn:se:uu:diva-261553OAI: diva2:850625
External cooperation
Åland University of Applied Science
Educational program
Master Programme in Engineering Physics
Available from: 2015-09-10 Created: 2015-09-01 Last updated: 2015-09-10Bibliographically approved

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Melin, Jon
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