A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation

This paper proposes a novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control (SMESC) without steady-state oscillation. In the sailing speed optimisation scheme, an initial sail angle of attack is first computed by a piecewise constant function in the feed forward block, which ensures a small deviation between sailing speed and the maximum speed. Second, the sailing speed approaches to maximum gradually by extremum search control (ESC) in the feedback block. In SMESC without steady-state oscillation, a switching law is designed to carry out the control transformation, so that the speed optimisation system carries out SMESC in the first convergence phase and ESC without steady-state oscillation in the second stability phase. This scheme combines the advantages of both control algorithms to maintain a faster convergence rate and to eliminate steady-state oscillation. Furthermore, the strict stability of the speed optimisation system is proved in this paper. Finally, we test a 12-m mathematical model of an unmanned sailboat in the simulation to demonstrate the effectiveness and robustness of this speed optimisation scheme.