In this study, the motion control problem of the vessel towed by a towing ship (tugboat) is considered. The non-powered towed ship is dragged by the towing ship. Even though the towed ship is equipped with propulsion systems, they cannot be used at low or constant speeds due to safety issues. In narrow canals, rivers, and busy harbor areas especially, where extreme tension is required during towing operation, the course stability of the towed vessel depends on the towing ship. Therefore, the authors propose a new control strategy in which the rudder system of the towed vessel is activated to provide its maneuverability. Based on the leader-follower system configuration, a nonlinear mathematical model is derived and a back-stepping control is designed. By simulation and experiment results with a comparison study, the usefulness and effectiveness of the proposed strategy are validated.

在这项研究中，考虑了由拖曳船（拖船）拖曳的船舶的运动控制问题。无动力拖船被拖船拖拉。即使被牵引的船舶配备了推进系统，由于安全问题，它们也不能以低速或恒定速度使用。特别是在狭窄的运河，河流和繁忙的港口地区，在拖曳操作期间需要极度张紧的情况下，拖曳船的航向稳定性取决于拖曳船。因此，作者提出了一种新的控制策略，其中牵引船的舵系统被激活以提供其可操纵性。基于领导者跟随者的系统配置，推导了非线性数学模型并设计了反步控制。通过仿真和实验结果以及对比研究，