Automatic control of straightline motions of towed vessels

Abstract

A classical control system with a full-order observer is designed to stabilize the motions of towed vessels. The control method is transverse movement of the towline attachment point on the towed vessel. The linearized sway and yaw equations of motion are developed, leading to the control system design. The control system is tested using MATRIX. Results for a barge, mariner-class ship and a tanker are presented. Possible benefits of the implementation of such a system include improved fuel economy, a wider range of environmental conditions during which towing operations can be conducted, and improved safety.