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ISSN : 2671-9940(Print)
ISSN : 2671-9924(Online)
Journal of the Korean Society of Fisheries and Ocean Technology Vol.56 No.3 pp.238-245
DOI : https://doi.org/10.3796/KSFOT.2020.56.3.238

Control system design and experimental evaluation for improving maneuvering performance of a leader following system

Duc-Quan TRAN,Young-Bok KIM1,Byung-Gak KIM2*

Abstract

In this study, a motion control problem for the vessel towed by towing ship on the sea is considered. The towed vessel does not have self-control capabilities such that its course stability totally depends on the towing ship. Especially, in the narrow canal, river and congested harbor area, extreme tension is required during the towing operation. The authors, therefore, propose a new control system design method in which the rudder is activated to provide its maneuverability. Based on the leader following system configuration, a nonlinear mathematical model is derived and a backstepping control is designed. By experiment results with nonlinear control framework, the usefulness and effectiveness of the proposed strategy are presented.