Preprint Article Version 1 This version is not peer-reviewed

Leader-Following Control System Design Based on Back-stepping Control Strategy

Version 1 : Received: 30 March 2020 / Approved: 31 March 2020 / Online: 31 March 2020 (10:02:03 CEST)

How to cite: Lee, D.; Quan, T.; Kim, Y. Leader-Following Control System Design Based on Back-stepping Control Strategy. Preprints 2020, 2020030452 (doi: 10.20944/preprints202003.0452.v1). Lee, D.; Quan, T.; Kim, Y. Leader-Following Control System Design Based on Back-stepping Control Strategy. Preprints 2020, 2020030452 (doi: 10.20944/preprints202003.0452.v1).

Abstract

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

Subject Areas

towed vessel; tugboat; propulsion system; towing vessel; steering performance; rudder; back-stepping control

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