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Communication dans un congrès

An experimental validation of a robust controller with the VAIMOS autonomous sailboat

Fabrice Le Bars 1 Luc Jaulin 1
1 Lab-STICC_ENSTAB_CID_IHSEV ; OSM
STIC - Pôle STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : A sailboat is a strongly non-linear system that however has been proven to be easily controllable. Indeed, its mechanical design comes from an evolution from thousands of years with two main concerns: having a fast, reliable and ef cient vehicle while being easily controlled by humans. This article describes the functioning, the validation process and the performances of a simple controller, inspired from what navigators do, through tests made on the sailboat robot VAIMOS built by IFREMER for oceanography. This controller requires tweaking few parameters with real physical meaning while ensuring accurate trajectory following, needed to make oceanographic measurements in a speci c area.
Type de document :
Communication dans un congrès
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https://hal-ensta-bretagne.archives-ouvertes.fr/hal-00746061
Contributeur : Annick Billon-Coat <>
Soumis le : vendredi 26 octobre 2012 - 19:17:49
Dernière modification le : mercredi 5 août 2020 - 03:42:30

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  • HAL Id : hal-00746061, version 1

Citation

Fabrice Le Bars, Luc Jaulin. An experimental validation of a robust controller with the VAIMOS autonomous sailboat. WRSC/IRSC 2012, Sep 2012, United Kingdom. ⟨hal-00746061⟩

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