摘要：Abstract: This paper proposes a method of transforming a heading controller into a course controller in sailboats by adding a small correction term. Sailboats usually have large drift angles because of considerable side forces, mainly caused by the sail. Even small deviations from the correct course angle can cause large errors, and thus course controllers in sailboats plays an essential role. The solution is based on the dynamics of the system, and the model presented builds upon previous work and adds detail in areas such as how to model wind, current and drag. The solution has roots in the fact that the purpose of the keel is to create a side force that counterbalances the unwanted drift forces. Simulation results show the effectiveness of the proposed approach.
