Stabilization of towed cables

In this paper, we consider the stabilization problem for towed cables. The dynamics of the cables are described by nonlinear partial differential equations. The dynamics of the depth controllers are given by ordinary differential equations. Based on measurements at the depth controllers, exponential stable control laws are proposed. The stability analysis of the closed loop system is based on Lyapunov theory. The existence and uniqueness of solutions of the closed loop system are based on semigroup theory.