A Systematic Pipelaying Control Method Based on the Sliding Matrix for Dynamically Positioned Surface Vessels

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2022/9702532/figures/9702532.fig.0016a.svgz" name="9702532.fig.0016a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>The desired and the actual heading</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2022/9702532/figures/9702532.fig.0016b.svgz" name="9702532.fig.0016b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>The sideslip angle</td></tr></table>

<div>The vessel heading angle and sideslip angle.</div>

Journal of Sensors

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Figure 16

Figure 16: A Systematic Pipelaying Control Method Based on the Sliding Matrix for Dynamically Positioned Surface Vessels 