Abstract
This paper presents the experimental results about position mooring (PM) system applied to the barge ship. The aim of the PM is to maintain the position and motion of the ship's surge and sway directions as desired. In this paper, a system consisting of a barge vessel and mooring lines is mathematically modeled. The position and orientation of the vessel is controlled by changing the tensions of the mooring lines with the subwinch. A comparison of the newly designed mathematical model with the existing PID control method and the results of experiments indicated that the proposed designing method is more efficient than the traditional method.
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