A study on ship automatic berthing with assistance of auxiliary devices

Tran, Van Luong; Im, Nam-Kyun

doi:10.2478/ijnaoe-2013-0090

Cited by 45 publications

(24 citation statements)

References 2 publications

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“…In addition, the combination of predictive algorithm and fuzzy control [80], PID algorithm [85], or the introduction of disturbance observer all adopt different methods to ensure ship stability [86]. The research on automatic docking and undocking control of ships is mainly based on the combination of neural network and PID [87][88][89][90][91][92].…”

Section: Stabilization Controlmentioning

confidence: 99%

“…At present, the optimization algorithm is applied to the optimization of PID control parameters. For example, ACA [66], GA [50,79], PSO algorithm [70] and NN algorithm [87][88][89][90][91][92]119] are applied to the controller to modify the PID parameters, which adapts to different operating conditions of ships and solves the problems of difficult adjustment of PID parameters and poor self-adaptation.…”

Section: Proportion Integral Derivative Algorithmmentioning

confidence: 99%

“…Chaos theory [161] (4) Support Vector Machine(SVM) [162] (5) Genetic Algorithm(GA) [ [186] The NN model has been considered as one of the most effective theories of automatic docking [87,119], which can learn and imitate the behavior of the human brain in the execution of ship docking stage. NN algorithm and PID controller are combined to design the new controller [60,88], which can resist high wind and wave disturbance [92].…”

Section: Number Algorithm Number Algorithmmentioning

confidence: 99%

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State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships

Wang

Liu

et al. 2019

JMSE

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At present, with the development of waterborne transport vehicles, research on ship faces a new round of challenges in terms of intelligence and autonomy. The concept of maritime autonomous surface ships (MASS) has been put forward by the International Maritime Organization in 2017, in which MASS become the new focus of the waterborne transportation industry. This paper elaborates on the state-of-the-art research on motion control of MASS. Firstly, the characteristics and current research status of unmanned surface vessels in MASS and conventional ships are summarized, and the system composition of MASS is analyzed. In order to better realize the self-adaptability of the MASS motion control, the theory and algorithm of ship motion control-related systems are emphatically analyzed under the condition of classifying ship motion control. Especially, the application of intelligent algorithms in the ship control field is summarized and analyzed. Finally, this paper summarizes the challenges faced by MASS in the model establishment, motion control algorithms, and real ship experiments, and proposes the composition of MASS motion control system based on variable autonomous control strategy. Future researches on the accuracy and diversity of developments and applications to MASS motion control are suggested.

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Section: Stabilization Controlmentioning

confidence: 99%

Section: Proportion Integral Derivative Algorithmmentioning

confidence: 99%

Section: Number Algorithm Number Algorithmmentioning

confidence: 99%

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State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships

Wang

Liu

et al. 2019

JMSE

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“…In fact of maritime safety, the berthing process of ship is considered as completion after the ship is pushed into wharf position under desired velocities to hold the mooring lines on land. For that purpose, Im [7] described a neural controller to control bow thruster and the tugboat of ship. In this research, the proposed controller has four outputs which are ruder angle, propeller, the bow thruster and the tugboat.…”

Section: Introductionmentioning

confidence: 99%

Automatic Ship Berthing Based on Fuzzy Logic

Nguyen

2019

IJFIS

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Because the maneuverability of ship at low speed is reduced significantly, ship berthing is one of most difficult duties that ship master usually has to face as arriving at the port. In order to make sure the safe accomplishment of ship berthing, all steps need to be performed properly. In fact of maritime safety, the tugboats and thrusters are commonly utilized to support crabbing motion of ship in final stage of berthing process before mooring. In addition, because of the nonlinear of ship dynamic on berthing, theories of artificial intelligence are suitable to mimic the actions of ship master in controlling ship berthing automatically. In this article, a support system is proposed to bring ship into berth automatically after using the maneuvering control system. Three fuzzy controllers are established for different tasks of the berthing algorithm. The first controller is designed to control the movement of ship in longitudinal direction toward to the normal of wharf with the ship's propeller, while the task of second controller is to stabilize the relative bearing error with tugboat. The final controller is responsible for bring the ship into wharf according to crabbing motion with bow thruster and tugboat simultaneously. Finally, numerical simulations are carried out to validate the performance of the proposed system. The results show that the berthing support system has good performance for ship.

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“…In Bui and Kim (2011), position tracking control of ship berthing with assistance of autonomous tugboats was provided by using sliding mode control approach, while, a robust approach was presented in Ji et al (2013). Recently in Tran and Im (2012), artificial neural networks were utilized to address the same problem. While several control aspects of the problem was researched, most of the above mentioned works required poses of the tugboats relative to the center of mass of the unactuated surface vessel to remain unchanged (i.e., static positioning was considered) which is usually not the case due to several disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

2016

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a b s t r a c tIn this paper, the problem of accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats is investigated. Specifically a robust controller that ensures asymptotic position tracking is designed. The control design procedure is implemented in two steps: Initially by locating opposing tugboats to specific configurations, the overall problem is transformed into a second order system with an uncertain non-symmetric input gain matrix. Then via a matrix decomposition, a novel robust controller methodology is proposed. The stability of the overall system is ensured via rigorous stability analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed controller.

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A study on ship automatic berthing with assistance of auxiliary devices

Cited by 45 publications

References 2 publications

State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships

State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships

Automatic Ship Berthing Based on Fuzzy Logic

Robust dynamic positioning of surface vessels via multiple unidirectional tugboats

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