Adaptive Takeoff Maneuver Optimization of a Sailing Boat for America’s Cup

This paper presents the development of optimal takeoff maneuvers for an AC75 foiling sailboat competing in oldest and most prestigious competition world, America’s Cup. The many challenges to developing these due its nonlinear, high-dimensional, highly unstable dynamics. During maneuver, boat starts water with low speed (displacement mode) increases until it reaches steady-state (the hull stays out water). We optimized time boat’s transitions from displacement mode while maximizing projection velocity desired target direction (VMG). used adaptive control approach obtain maneuvers, which involved using a high-fidelity simulator data generation Jacobian learning optimization. solutions were subject value rate constraints based on physical limitations actuators, as well enforced by human (sailors) abilities perform such maneuvers. maneuver had average VMG 7.42 [m s-1], reached 14.8 [s] completed entire 36.4 [s]. provide insightful information about dynamic behavior this complex system serve benchmarks sailors.