Dynamics and control of a towed vehicle in transient mode

The dynamics and control of a towed vehicle when it changes depth and cours e were studied theoretically and experimentally. A mathematical model of mo tions of the vehicle is described in 6-degree-freedom motion equations and that of the towing cable is done using the lumped mass model. Control syste ms based on an optimal control theory (LQI synthesis) were developed to con trol the vehicle safely during the depth change. In the course change exper iment the pin controller was used. The performance of the controller and th e accuracy of the mathematical model of motions have been evaluated by fiel d experiments. The towing tension was also measured in field experiments to confirm the safety of the towing table.