Abstract
In this study, a motion control system design of barge-type surface ship is considered. The barge ships are used in numerous applications for a variety of purposes. Especially, in the ship building industries, heavy and huge equipment and assembly parts are carried by these ships. However, it is difficult to achieve desirable motion because the propulsion systems are not installed on it. Therefore, the assistance of several tugboats is necessary to guarantee safe and quick operations. So far, automatic control techniques have not been incorporated with these systems. Hence, in this study, a useful control strategy is suggested to provide a solution for this issue in order to obtain the desirable motion control performance. Accordingly, a motion control system configuration is presented, and a robust control is derived. The usefulness of proposed control system is verified by comparison study with LQ control. The various simulations are carried out to provide a better look at the performance of the barge ships while being controlled.
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