Advanced Dynamical Models for Full-Green and Sustainable Sail Drones

摘要

As a part of the V.E.L.A. Project (Veicolo Eolico Leggero Autonomo), authors have developed a full autonomous marine vehicle whose functionalities are completely sustained by renewable sources: wind energy for propulsion, solar energy to feed on board actuation and navigation systems. After a preliminary development of the system, mainly from experimental tests, authors have studied and developed a simplified numerical model of the vehicle that should be used not only or further optimizations of the systems but also a model based navigation control of the vehicle.