11 years ago
azimuthal thrusters such as the ones on a tugboat. The boat will have
one forward and one aft and I need to figure out how to write a
control loop (in this case I'm using Simulink) to control the boat.
This boat will be able to move exactly like a tugboat (in the surge
and sway directions ... including spinning in one spot).
I have done pretty basic control of platforms in the past and I'm
having a bit of a hard time determining how to approach this since
both motors can vary thrust and have a full 360 degree rotation.
Anyone have any ideas on how to start and/or can point me in a
direction of some useful articles? Thanks for the help...