Modelling and Control of a Model Scaled Surface Vessel with Twin Propellers, Single Rudder and Two Side Thrusters^*

This paper presents the developed mathematical model for a model scaled container vessel, namely P&O Nedlloyd Hoorn, and control algorithms for surface missions. Hoorn is a free running model equipped with twin propellers, single rudder and two side thrusters. A 4-degree-of-freedom (4-DOF) model has been developed using free running test data and updated with forces and moments generated by two side thrusters. A full set of derivative coefficients has been estimated and verified by simulation, then a trajectory tracking control algorithm has been developed for a surface mission. The results have indicated a good agreement with experimental data and the 4-DOF model can be used to design and verify any proposed control algorithms.