Sailmast Setup for a Wind Wheeled Robot

  • Giulio ReinaEmail author
  • Mario Foglia
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 68)


The model of a wheeled vehicle propelled by wind using a rigid sail is presented. The vehicle nonlinear dynamic model is expressed in a compact matrix form, starting from the equations of motion. The full three-dimensional regulation of the sail is considered, including trim, heel and rake angle. Simulations are included showing the impact of the sail control input on the vehicle performance.


Wind-powered robot Nonlinear dynamic modelling Sail regulation 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Dipartimento di Ingegneria dell’InnovazioneUniversità del SalentoLecceItaly
  2. 2.Departimento di Meccanica, Matematica e ManagementPolitecnico di BariBariItaly

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