In this study, a motion control problem for the vessel towed by towing ship on the sea is considered. The towed vessel does not have self-control capabilities such that its course stability totally depends on the towing ship. Especially, in the narrow canal, river and congested harbor area, extreme tension is required during the towing operation. The authors, therefore, propose a new control system design method in which the rudder is activated to provide its maneuverability. Based on the leader following system configuration, a nonlinear mathematical model is derived and a backstepping control is designed. By experiment results with nonlinear control framework, the usefulness and effectiveness of the proposed strategy are presented.

서 론
재료 및 방법
    예인선 및 피예인선 모델링
    제어기 설계
    결과 및 고찰
    실험장치
    피예인선 동특성 및 제어기 이득
    실험조건 및 방법
결 론
References

• 트란덕권(부경대학교 대학원 기계시스템공학과) | Duc-Quan TRAN (Department of Mechanical System Engineering, the Graduate School, Pukyong National University)
• 김영복(부경대학교 기계시스템공학과) | Young-Bok KIM (Department of Mechanical System Engineering, Pukyong National University)
• 김병각(부경대학교 대학원) | Byung-Gak KIM (the Graduate School, Pukyong National University) Corresponding author