An analytical stability analysis of the steady trajectory for a surface vessel with various damping models is presented in this work. The analysis is based on a control-oriented, three degrees-of-freedom model that considers vessel motion only in the horizontal plane. The goal of this study is to understand the vessel trajectories predicted by this reduced order model for model-based control design. Straight line and circular motion stability conditions for each trajectory are derived and presented for the various damping models. The results of this analysis show that either a straight line or a circular steady trajectory is possible, depending on the magnitude of the surge force and the form of the damping model used to represent viscous drag, vortex shedding, and losses due to the surface wake generated by the vessel motion. However, the straight line motion is much less likely for the vessel considered in this work.
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e-mail: alan.whitman@villanova.edu
e-mail: hashem.ashrafiuon@villanova.edu
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July 2011
Research Papers
Analytical Stability Analysis of Surface Vessel Trajectories for a Control-Oriented Model
Alan M. Whitman,
Alan M. Whitman
Professor Emeritus
Mem. ASME
Department of Mechanical Engineering,
e-mail: alan.whitman@villanova.edu
Villanova University
, Villanova, PA 19085
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Hashem Ashrafiuon,
Hashem Ashrafiuon
Professor
Mem. ASME
Center for Nonlinear Dynamics and Control, Department of Mechanical Engineering,
e-mail: hashem.ashrafiuon@villanova.edu
Villanova University
, Villanova, PA 19085
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Kenneth R. Muske
Kenneth R. Muske
Professor
Department of Chemical Engineering,
Villanova University
, Villanova, PA 19085
Search for other works by this author on:
Alan M. Whitman
Professor Emeritus
Mem. ASME
Department of Mechanical Engineering,
Villanova University
, Villanova, PA 19085e-mail: alan.whitman@villanova.edu
Hashem Ashrafiuon
Professor
Mem. ASME
Center for Nonlinear Dynamics and Control, Department of Mechanical Engineering,
Villanova University
, Villanova, PA 19085e-mail: hashem.ashrafiuon@villanova.edu
Kenneth R. Muske
Professor
Department of Chemical Engineering,
Villanova University
, Villanova, PA 19085J. Comput. Nonlinear Dynam. Jul 2011, 6(3): 031010 (10 pages)
Published Online: February 1, 2011
Article history
Received:
May 10, 2010
Revised:
October 28, 2010
Online:
February 1, 2011
Published:
February 1, 2011
Citation
Whitman, A. M., Ashrafiuon, H., and Muske, K. R. (February 1, 2011). "Analytical Stability Analysis of Surface Vessel Trajectories for a Control-Oriented Model." ASME. J. Comput. Nonlinear Dynam. July 2011; 6(3): 031010. https://doi.org/10.1115/1.4002976
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