TY - JOUR A1 - Köthe, Alexander A1 - Guske, Oliver A1 - Martinen, Ivan A1 - Hopf, Janik A1 - Worrmann, Paul T1 - Development and Validation of an Automatic Waypoint Navigation Control System for Watercrafts JF - IFAC-PapersOnLine N2 - This paper presents the development and testing of an automatic control system for waypoint navigation in a solar boat, initially designed for manual operation. It covers the boat's modifications for automation, system identification through step response experiments, and control strategy implementation. The system includes a Base Controller for yaw rate and speed as well as a subsequent Waypoint Path Controller for navigation. Utilizing a nominal dynamic model of the boat, the Base Controller's design emphasizes robustness against parameter uncertainties, while the Waypoint Path Controller follows a conventional approach. The effectiveness of the system is validated with real driving tests. KW - control design KW - identification KW - marine system KW - mechatronic system KW - modeling Y1 - 2024 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:kobv:526-opus4-19673 VL - 58 IS - 25 SP - 174 EP - 179 ER -