A control system based on sliding mode control and the linear quadratic regulator is designed to stabilize the straight line motions of towed vessels. The control technique is through athwartship movement of the towline attachment point on the towed vessel. Control design is based on the linearized sway and yaw equations of motion. Numerical simulations for both the linearized and the nonlinear system are performed and demonstrate the added robustness of the control technique employed.


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    Title :

    Sliding Mode Control of Motions of Towed Ships


    Contributors:

    Publication date :

    1991


    Size :

    63 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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