I am about to start working on a control problem that involves 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...
S