Sliding Mode Control of Motions of Towed Ships

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1991
Accession Number
ADA245228

Entities

People

  • Arthur K. Samora

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Attachment
  • Automatic
  • Center Of Gravity
  • Classification
  • Control Systems
  • Coordinate Systems
  • Equations
  • Equations Of Motion
  • Equations Of State
  • Governments
  • Naval Architecture
  • Numerical Analysis
  • Regulators
  • Schools
  • Security
  • Simulations
  • United States

Readers

  • Marine Hydrodynamics
  • Robotics and Automation.