Abstract
A dynamic nonlinear model of a ship towed by a nonlinear elastic rope in the presence of sea current, wind and waves is formulated. Then, a nonlinear rudder controller is proposed for the towed vessel in order to limit its lateral motion in a narrow strip. The efficiency of the proposed controller is investigated through extensive simulations of three types of vessels, viz. a barge, a mariner and a tanker. The results obtained confirm that rudder control can be a great advantage in the sway and yaw motion of the towed vessel and on the tension of the elastic towrope under various adverse weather conditions.
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