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Modeling, Control, and Closed-Loop Mobility Characterization of a Spherical Sailing Omnidirectional Rover (SSailOR).

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Title: Modeling, Control, and Closed-Loop Mobility Characterization of a Spherical Sailing Omnidirectional Rover (SSailOR).
Authors: Kosak, Harrison1 hkosak@umich.edu, Fine, Jacob B.1 jbfine@umich.edu, Varanwal, Aditya2 avaranw@ncsu.edu, Ortenburg, Ashley1 aorten@umich.edu, Ramirez-Gomez, Diego1 ramdiego@umich.edu, Shah, Parin2 pshah25@ncsu.edu, Carrion, George2 gmcarrio@ncsu.edu, Mazzoleni, Andre2 apmazzol@ncsu.edu, Vermillion, Christopher1 cvermill@umich.edu
Source: Journal of Dynamic Systems, Measurement, & Control. Jul2026, Vol. 148 Issue 4, p1-13. 13p.
Subjects: Sailing, Nonholonomic constraints, Dynamic models, Feedback control systems, Closed loop systems
Abstract: This paper presents a control-oriented dynamic model, controller, and closed-loop mobility characterization for the first wind-powered spherical rover capable of net upwind motion. This device, termed the Spherical Sailing Omnidirectional Rover (SSailOR), incorporates design features within a spherical, terrestrial rover that mimic the role that a centerboard (or keel) and lifting sails play in allowing net upwind motion for sailboats. Specifically, a traction hoop enables significant lateral resistance, thereby providing a nonholonomic constraint in the direction of travel. Lifting sails enables net thrust even when traveling significantly upwind, while also providing heading control. While providing unique capabilities, the SSailOR gives rise to a complex design and control space, where careful model-based design and control are necessary to ensure that the SSailOR can simultaneously (i) make net upwind progress, (ii) respond quickly to wind speed/direction changes, (iii) limit heel angle, and (iv) control its heading. To simultaneously address these challenges, we first present a control-oriented dynamic model. This is followed by the presentation of a combined heading and heel angle controller. Finally, with the dynamic model and control structure in place, we present a detailed closed-loop Pareto analysis, which illustrates the tradeoff between transient and steady-state performance, along with the design features that favor one modality of performance over another. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Dynamic Systems, Measurement, & Control is the property of American Society of Mechanical Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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DbLabel: Engineering Source
An: 195016220
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PubType: Academic Journal
PubTypeId: academicJournal
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  Data: Modeling, Control, and Closed-Loop Mobility Characterization of a Spherical Sailing Omnidirectional Rover (SSailOR).
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  Data: <searchLink fieldCode="AR" term="%22Kosak%2C+Harrison%22">Kosak, Harrison</searchLink><relatesTo>1</relatesTo><i> hkosak@umich.edu</i><br /><searchLink fieldCode="AR" term="%22Fine%2C+Jacob+B%2E%22">Fine, Jacob B.</searchLink><relatesTo>1</relatesTo><i> jbfine@umich.edu</i><br /><searchLink fieldCode="AR" term="%22Varanwal%2C+Aditya%22">Varanwal, Aditya</searchLink><relatesTo>2</relatesTo><i> avaranw@ncsu.edu</i><br /><searchLink fieldCode="AR" term="%22Ortenburg%2C+Ashley%22">Ortenburg, Ashley</searchLink><relatesTo>1</relatesTo><i> aorten@umich.edu</i><br /><searchLink fieldCode="AR" term="%22Ramirez-Gomez%2C+Diego%22">Ramirez-Gomez, Diego</searchLink><relatesTo>1</relatesTo><i> ramdiego@umich.edu</i><br /><searchLink fieldCode="AR" term="%22Shah%2C+Parin%22">Shah, Parin</searchLink><relatesTo>2</relatesTo><i> pshah25@ncsu.edu</i><br /><searchLink fieldCode="AR" term="%22Carrion%2C+George%22">Carrion, George</searchLink><relatesTo>2</relatesTo><i> gmcarrio@ncsu.edu</i><br /><searchLink fieldCode="AR" term="%22Mazzoleni%2C+Andre%22">Mazzoleni, Andre</searchLink><relatesTo>2</relatesTo><i> apmazzol@ncsu.edu</i><br /><searchLink fieldCode="AR" term="%22Vermillion%2C+Christopher%22">Vermillion, Christopher</searchLink><relatesTo>1</relatesTo><i> cvermill@umich.edu</i>
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  Data: <searchLink fieldCode="JN" term="%22Journal+of+Dynamic+Systems%2C+Measurement%2C+%26+Control%22">Journal of Dynamic Systems, Measurement, & Control</searchLink>. Jul2026, Vol. 148 Issue 4, p1-13. 13p.
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  Data: <searchLink fieldCode="DE" term="%22Sailing%22">Sailing</searchLink><br /><searchLink fieldCode="DE" term="%22Nonholonomic+constraints%22">Nonholonomic constraints</searchLink><br /><searchLink fieldCode="DE" term="%22Dynamic+models%22">Dynamic models</searchLink><br /><searchLink fieldCode="DE" term="%22Feedback+control+systems%22">Feedback control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Closed+loop+systems%22">Closed loop systems</searchLink>
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  Label: Abstract
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  Data: This paper presents a control-oriented dynamic model, controller, and closed-loop mobility characterization for the first wind-powered spherical rover capable of net upwind motion. This device, termed the Spherical Sailing Omnidirectional Rover (SSailOR), incorporates design features within a spherical, terrestrial rover that mimic the role that a centerboard (or keel) and lifting sails play in allowing net upwind motion for sailboats. Specifically, a traction hoop enables significant lateral resistance, thereby providing a nonholonomic constraint in the direction of travel. Lifting sails enables net thrust even when traveling significantly upwind, while also providing heading control. While providing unique capabilities, the SSailOR gives rise to a complex design and control space, where careful model-based design and control are necessary to ensure that the SSailOR can simultaneously (i) make net upwind progress, (ii) respond quickly to wind speed/direction changes, (iii) limit heel angle, and (iv) control its heading. To simultaneously address these challenges, we first present a control-oriented dynamic model. This is followed by the presentation of a combined heading and heel angle controller. Finally, with the dynamic model and control structure in place, we present a detailed closed-loop Pareto analysis, which illustrates the tradeoff between transient and steady-state performance, along with the design features that favor one modality of performance over another. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Journal of Dynamic Systems, Measurement, & Control is the property of American Society of Mechanical Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=195016220
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        Value: 10.1115/1.4070774
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        Text: English
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        PageCount: 13
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      – SubjectFull: Sailing
        Type: general
      – SubjectFull: Nonholonomic constraints
        Type: general
      – SubjectFull: Dynamic models
        Type: general
      – SubjectFull: Feedback control systems
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      – SubjectFull: Closed loop systems
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      – TitleFull: Modeling, Control, and Closed-Loop Mobility Characterization of a Spherical Sailing Omnidirectional Rover (SSailOR).
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              M: 07
              Text: Jul2026
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              Y: 2026
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