An automatic control system for ship harbour manoeuvres using decoupling control

Author

Le, Minh-Duc

Author_Institution

Shipbuilding Sci. & Technol. Inst., Hanoi, Viet Nam

Volume

2

fYear

2001

fDate

2001

Firstpage

2108

Abstract

This paper presents a new application of the decoupling control to automatically control large ships in harbour areas. A multi-term nonlinear mathematical model is adopted to express ships´ manoeuvring motions. The method for designing the automatic control system is briefly described. Computer simulation results for a very large crude carriage on a simple berthing manoeuvre are given to verify the design method. Excellent effects of the automatic control system are proven by very good simulation results of the ship motions during 180 deg. turning manoeuvres under various strong wind conditions. Simulation results also show robustness of the automatic control system against parameters´ uncertainty.

Keywords

control system synthesis; motion control; nonlinear systems; position control; ships; automatic control system; decoupling control; harbour manoeuvres; large crude carriage; motion control; ship; Application software; Automatic control; Computational modeling; Computer simulation; Control systems; Design methodology; Marine vehicles; Mathematical model; Robust control; Turning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932918

Filename

932918