Dynamics and control of a towed vehicle in transient mode

W. Koterayama, M. Nakamura, T. Yokobiki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 1999 Ninth International Offshore and Polar Engineering Conference
EditorsJ 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
PublisherInternational Society of Offshore and Polar Engineers
Pages476-482
Number of pages7
ISBN (Print)1880653397
Publication statusPublished - 1999
EventProceedings of the 1999 Ninth International Offshore and Polar Engineering Conference - Brest, France
Duration: May 30 1999Jun 4 1999

Other

OtherProceedings of the 1999 Ninth International Offshore and Polar Engineering Conference
CountryFrance
CityBrest
Period5/30/996/4/99

All Science Journal Classification (ASJC) codes

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

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  • Cite this

    Koterayama, W., Nakamura, M., & Yokobiki, T. (1999). Dynamics and control of a towed vehicle in transient mode. In 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 (Eds.), Proceedings of the 1999 Ninth International Offshore and Polar Engineering Conference (pp. 476-482). International Society of Offshore and Polar Engineers.