Modeling and Autopilot Design for an Autonomous Catamaran Sailboat Based on Feedback Linearization

Abstract

This paper deals with the design of a feedback linearization and decoupling algorithm for controlling the heading and the sail opening angle of an autonomous catamaran sailboat. A nonlinear four degrees of freedom dynamic model of the sailboat was developed, it includes roll and sway motions. An autopilot was designed through the determined model in order to keep the catamaran sailboat on a predefined heading and ensure a suitable sail position. Some simulation results are presented to illustrate the behavior of the control design.