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.
Sliding Mode Control of Motions of Towed Ships
1991
63 pages
Report
No indication
English
Marine Engineering , Attachment , Control , Control systems , Equations of motion , Linear systems , Motion , Nonlinear systems , Numerical analysis , Quadratic programming , Regulators , Ships , Sliding , Towed bodies , Towing cables , Yaw , Towed ships , Towing , Stability , Automatic control system , Theses
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