1 Mechatronics Group, The Mads Clausen Institute, Faculty of Engineering, SDU2 unknown3 The Mads Clausen Institute, Faculty of Engineering, SDU4 The Mads Clausen Institute, Faculty of Engineering, SDU
In this paper we develop a simplified mathematical model representing the main elements of the behaviour of sailing vessels as a basis for simulation and controller design. For adaptive real-time optimization of the sail and heading angle we then apply extremum seeking control (which is a gradient based control law that drives the output of a linear or nonlinear system to its extremum) as an approach to maximize the longitudinal velocity. The basic idea behind extremum seeking and “how it works” is presented, as well as a simulation study on noise, convergence and stability issues.
55th International Scientific Colloquium (iwk), 2010, p. 198-203