An automatic decoupling control system for ship harbor maneuvers and its robustness evaluation

Presented and discussed in this paper are mathematical model used for expressing ship motions, application of decoupling control methodology to construct the controller and corresponding designing issues. Simulation results for a Very Large Crude Carrier (VLCC) in a typical harbor maneuver are given to verify the designing of the controller. Excellent effects of the controller are shown by very good simulation results of ship motions during several 180° turning maneuvers under various strong wind conditions. Robustness of the controller against parameter uncertainty, strong environment disturbances such as strong wind and currents is also studied and presented in this paper.