| Issue |
MATEC Web Conf.
Volume 406, 2024
2024 RAPDASA-RobMech-PRASA-AMI Conference: Unlocking Advanced Manufacturing - The 25th Annual International RAPDASA Conference, joined by RobMech, PRASA and AMI, hosted by Stellenbosch University and Nelson Mandela University
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| Article Number | 04006 | |
| Number of page(s) | 26 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202440604006 | |
| Published online | 09 December 2024 | |
Towards the development of an autonomous sailboat: Modelling and simulation of a small autonomous sailboat
Department of Electrical and Electronic Engineering, Stellenbosch University, Stellenbosch, South Africa
* Corresponding author: rubenvtonder@gmail.com
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.
© The Authors, published by EDP Sciences, 2024
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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