Adaptive Pid Control Of An Autonomous Sailboat 
B.Puviyarasi1, N.Nithyarani2, T.Tamilselvi3, K.Srivdya4
1B.Puviyarasi, Assistant Professor, Department of Electronics and Instrumentation, Sri Sairam Engineering College, Chennai, Tamilnadu, India.
2N.Nithyarani, Assistant Professor, Department of Electronics and Instrumentation, Sri Sairam Engineering College, Chennai, Tamilnadu, India.
3T.Tamilselvi, Assistant Professor, Department of Electronics and Instrumentation, Sri Sairam Engineering College, Chennai, Tamilnadu, India.
4K.Srivdya, Assistant Professor, Department of Electronics and Instrumentation, Sri Sairam Engineering College, Chennai, Tamilnadu, India.
Manuscript received on February 05, 2019. | Revised Manuscript received on February 14, 2019. | Manuscript published on August 30, 2019. | PP: 3608-3612 | Volume-8 Issue-6, August 2019. | Retrieval Number: F9358088619/19©BEIESP | DOI: 10.35940/ijeat.F9358.088619
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This paper discusses the control architecture for autonomous sailboat navigation. The control of non linear autonomous sailboat system is done by using Conventional PID controller (CPID) and Adaptive PID controller (APID). This mainly focuses on the way of dynamically controlling the sail of the sailboat to reduce the heel angle and roll motion caused by the wind. A large heeling angle, a lot of roll motion due to wind gusts can cause the boat to capsize. Sailboats cannot sail directly up-wind either and one have to move in a zigzag pattern to be able to sail up-wind. The sail angle is optimized and rudder angle is controlled for the given wind direction and desired moment. The main goal is to allow long endurance autonomous mission.
Keywords:Sailboat, sail angle, rudder angle.