Research Article
An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System
Table 1
Trawler, otter board, and trawl net parameters.
| | Quantity | Symbol | Value |
| | Mass of trawler | (ton) | 5718 | | Mass of otter board | (ton) | 5.2 | | Mass of trawl net | (ton) | 47.916 | | Area of otter board | (m2) | 12 | | Area of trawl net | (m2) | 2107 | | Resistance coefficient of trawl net | | 1.5 | | Resistance coefficient of otter board | | 0.5 | | Otter board weight in water (-direction) | (N) | 45520 | | Trawl net weight in water (-direction) | (N) | 15826 | | Area of rudder | (m2) | 12 | | Resistance deduction fraction of rudder | | 0.236 | | Thrust deduction fraction of trawler | | 0.143 | | Diameter of propeller | (m) | 4.0 | | Propeller revolution rate | () | 155 | | Thrust coefficient under standard pitch ratio | | 0.446 | | Coefficient of pitch ratio | | 0.568 |
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