### Abstract

The dynamics and control of a towed vehicle when it changes depth and course were studied theoretically and experimentally. A mathematical model of motions of the vehicle is described in six degree freedom motion equations and that of the towing cable is done using the lumped mass model. Control systems based on an optimal control theory (LQI synthesis) were developed to control the vehicle safely during the depth change. The performance of the controller and the accuracy of the mathematical model of motions have been evaluated by field experiments. The towing tension was also measured in field experiments to confirm the safety of the towing cable.

Original language | English |
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Title of host publication | Proceedings of the 1999 Ninth International Offshore and Polar Engineering Conference |

Editors | J S Chung, R M W Frederking, H Saeki, H Moshagen, J M Roesset, J S Chung, R M W Frederking, H Saeki, H Moshagen, J M Roesset |

Publisher | International Society of Offshore and Polar Engineers |

Pages | 476-482 |

Number of pages | 7 |

ISBN (Print) | 1880653397 |

Publication status | Published - 1999 |

Event | Proceedings of the 1999 Ninth International Offshore and Polar Engineering Conference - Brest, France Duration: May 30 1999 → Jun 4 1999 |

### Other

Other | Proceedings of the 1999 Ninth International Offshore and Polar Engineering Conference |
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Country | France |

City | Brest |

Period | 5/30/99 → 6/4/99 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Earth and Planetary Sciences(all)
- Engineering(all)
- Environmental Science(all)
- Ocean Engineering

### Cite this

*Proceedings of the 1999 Ninth International Offshore and Polar Engineering Conference*(pp. 476-482). International Society of Offshore and Polar Engineers.

**Dynamics and control of a towed vehicle in transient mode.** / Koterayama, W.; Nakamura, Masahiko; Yokobiki, T.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Proceedings of the 1999 Ninth International Offshore and Polar Engineering Conference.*International Society of Offshore and Polar Engineers, pp. 476-482, Proceedings of the 1999 Ninth International Offshore and Polar Engineering Conference, Brest, France, 5/30/99.

}

TY - GEN

T1 - Dynamics and control of a towed vehicle in transient mode

AU - Koterayama, W.

AU - Nakamura, Masahiko

AU - Yokobiki, T.

PY - 1999

Y1 - 1999

N2 - The dynamics and control of a towed vehicle when it changes depth and course were studied theoretically and experimentally. A mathematical model of motions of the vehicle is described in six degree freedom motion equations and that of the towing cable is done using the lumped mass model. Control systems based on an optimal control theory (LQI synthesis) were developed to control the vehicle safely during the depth change. The performance of the controller and the accuracy of the mathematical model of motions have been evaluated by field experiments. The towing tension was also measured in field experiments to confirm the safety of the towing cable.

AB - The dynamics and control of a towed vehicle when it changes depth and course were studied theoretically and experimentally. A mathematical model of motions of the vehicle is described in six degree freedom motion equations and that of the towing cable is done using the lumped mass model. Control systems based on an optimal control theory (LQI synthesis) were developed to control the vehicle safely during the depth change. The performance of the controller and the accuracy of the mathematical model of motions have been evaluated by field experiments. The towing tension was also measured in field experiments to confirm the safety of the towing cable.

UR - http://www.scopus.com/inward/record.url?scp=0033237948&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033237948&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0033237948

SN - 1880653397

SP - 476

EP - 482

BT - Proceedings of the 1999 Ninth International Offshore and Polar Engineering Conference

A2 - Chung, J S

A2 - Frederking, R M W

A2 - Saeki, H

A2 - Moshagen, H

A2 - Roesset, J M

A2 - Chung, J S

A2 - Frederking, R M W

A2 - Saeki, H

A2 - Moshagen, H

A2 - Roesset, J M

PB - International Society of Offshore and Polar Engineers

ER -