Implementation of interactive control of a crane ship model in MATLAB/Simulink environment

ROBOMECH Journal

Table 1 The software used in the related studies

Study	Calculation and implementation of
Study	Hydrodynamic coefficients	Hydrodynamic forces	MBD	Control
Cha et al. [2] and Hong et al. [3]	Commercial software	Developed by Cha et al. [5]	Developed by Cha et al. [5]	No
Viswanathan et al. [4]	OrcaFlex	OrcaFlex	OrcaFlex	SimulationX, slow computation
Jeong et al. [8]	Commercial software	Self-developed (Ha et al. [6])	Self-developed (Ha et al. [6])	Self-developed, scenario-based (pre-defined) control
Vorhölter et al. [10]	E4-ROLLS	E4-ROLLS	E4	E4, scenario-based (pre-defined) control
This paper	Capytaine	WEC-Sim (MATLAB)	MATLAB/Simscape	MATLAB/Simulink, real-time interactive control