Abstract:
Adaptive algorithms for yacht motion control problem are investigated in this thesis.
As a special type of marine vessels, the unique wind-powered mechanism makes yachts
more sensitive to the sailing environment disturbances such as wind speed, wind angle
and waves. Even the distribution of crew affects a yacht's dynamics. The experience of
the helmsman who sets the sails' angles based on personal preferences varies the motion
dynamics as well. Due to the highly nonlinear characteristics of a yacht's motion, fixed
control strategies are not able to control this motion. This research aims to develop
adaptive autopilots algorithms satisfactory for yacht motion and stabilization control
problems.....