Ship motion control by using the center of thrust vector for 4-axis driven electric ship

In this paper, the aim of precise motion control, considering thrust vector selection method that allows Surge, Sway and Yaw motion of the 4-axis driven electric ship. As a thrust vector selection method, we propose a method of actively changing the position of the center of thrust vector. The proposed method controls Yaw angular velocity and Sway velocity. Compared to the conventional method of Yaw angular velocity control, confirm the improvement of the motion performance of the proposed method. By experiments, the usefulness of the proposed method is confirmed.