Journal of the Korean Society of Fisheries and Ocean Technology (수산해양기술연구)

The Korean Society of Fisheries and Ocean Technology (한국수산해양기술학회)
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Control system design and experimental evaluation for improving maneuvering performance of a leader following system

Leader Following 시스템 조종성능 개선을 위한 제어계 설계 및 실험적 평가

  • TRAN, Duc-Quan (Department of Mechanical System Engineering, the Graduate School, Pukyong National University) ;
  • KIM, Young-Bok (Department of Mechanical System Engineering, Pukyong National University) ;
  • KIM, Byung-Gak (Graduate School, Pukyong National University)
  • 트란덕권 (부경대학교 대학원 기계시스템공학과) ;
  • 김영복 (부경대학교 기계시스템공학과) ;
  • 김병각 (부경대학교 대학원)
  • Received : 2020.07.16
  • Accepted : 2020.08.05
  • Published : 2020.08.31
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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.

Keywords

References

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