Research into the Automatic Berthing of Underactuated Unmanned Ships under Wind Loads Based on Experiment and Numerical Analysis

Piao, Zaiji; Guo, Chen; Sun, Shuang

doi:10.3390/jmse7090300

Cited by 21 publications

(7 citation statements)

References 24 publications

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“…Combining with genetic algorithm [18], the ANN structure and training cost are optimized and reduced, respectively, guaranteeing that the ship reach the dock smoothly. Apart from ANN, other methods, like adaptive backstepping control [19], PID-based nonlinearfeedback control [20], genetic algorithm-based optimal control [21], and PID-based active disturbance rejection control [22], provide solutions for self berthing aiming at handling wind loads.…”

Section: A Related Workmentioning

confidence: 99%

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Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances

Negenborn

Reppa

2021

IEEE/CAA J. Autom. Sinica

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Among the promising application of autonomous surface vessels (ASVs) is the utilization of multiple autonomous tugs for manipulating a floating object such as an oil platform, a broken ship, or a ship in port areas. Considering the real conditions and operations of maritime practice, this paper proposes a multi-agent control algorithm to manipulate a ship to a desired position with a desired heading and velocity under the environmental disturbances. The control architecture consists of a supervisory controller in the higher layer and tug controllers in the lower layer. The supervisory controller allocates the towing forces and angles between the tugs and the ship by minimizing the error in the position and velocity of the ship. The weight coefficients in the cost function are designed to be adaptive to guarantee that the towing system functions well under environmental disturbances, and to enhance the efficiency of the towing system. The tug controller provides the forces to tow the ship and tracks the reference trajectory that is computed online based on the towing angles calculated by the supervisory controller. Simulation results show that the proposed algorithm can make the two autonomous tugs cooperatively tow a ship to a desired position with a desired heading and velocity under the (even harsh) environmental disturbances.

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Section: A Related Workmentioning

confidence: 99%

“…Step 1: Compute tug thruster forces and moment according to the cost function (19) and the tug angle (20), restricted by the tug dynamics (1), ( 2) and ( 4), ( 5), the environmental disturbances (6)-( 8), and the control constraints (21).…”

Section: Algorithm 2 Lower Layer Controlmentioning

confidence: 99%

Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances

Negenborn

Reppa

2021

IEEE/CAA J. Autom. Sinica

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“…Moreover, some studies dealt with external disturbance by using twin propellers and bow thrusters [23], bow thrusters and tugboats [24][25], and dynamic positioning of ships [26][27][28]. In [29], an active disturbances rejection control (ADRC) method was used to keep the ship on the predetermined track in order to resist the wind interference. The results showed that ADRC controller had good robustness, could solve the problems of insufficient autonomous route determination and strong antiinterference ability in the process of automatic berthing of underactuated unmanned vessel, and improved the safety of navigation.…”

Section: Figure 1 Ship Berthing Planmentioning

confidence: 99%

Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping

Yan

Zhang

2020

IEEE Access

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An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme.INDEX TERMS auto-berthing, underactuated marine surface vehicle, concise backstepping, differential homeomorphic.

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“…Regarding manoeuvring control, emphasis has been placed on the development of technologies that allow a ship to complete manoeuvring on its own. For example, automatic collision avoidance systems [2,3,4] and automatic berthing systems [5,6] are of interest and have received significant attention. However, the control force of a ship, such as the rudder or side-thruster force, is not necessarily sufficient for its large inertial force, which makes it challenging to establish a control system for various scenarios.…”

Section: Introductionmentioning

confidence: 99%

Mathematical model and simulation of cooperative manoeuvres among a ship and tugboats

Sano

2023

Brodogradnja

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Assisting harbour tugboats are essential for safe navigation in ports and for berthing/unberthing operations. Because the port infrastructure needs to be updated in the coming age of autonomous ships, autonomous tugboats or remotely controlled tugboats are expected to be part of the navigation assistance provided by future ports. Although there have been some studies on the design of cooperative control of tugboats, few studies have focused on the mathematical model of their cooperative manoeuvres. Particularly, in the case of pushing assistance, tugboats have often been treated simply as a kind of side thrusters attached to the assisted ship. Thus, we present a new framework of the mathematical model for cooperative manoeuvres that considers the coupled motions among tugboats and a ship as precisely as possible. Solving the dynamics of all tugboats as well as the assisted ship can render the model more advanced and realistic, and is the most significant contribution of this study. The simulation tool based on the proposed model can be used as a plant model in designing and verifying the tugboat’s manoeuvring control system in the future. In this study, as examples, considering a tentative control method, some unique scenarios were simulated to demonstrate the cooperative manoeuvres.

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Research into the Automatic Berthing of Underactuated Unmanned Ships under Wind Loads Based on Experiment and Numerical Analysis

Cited by 21 publications

References 24 publications

Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances

Cooperative Multi-Agent Control for Autonomous Ship Towing Under Environmental Disturbances

Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping

Mathematical model and simulation of cooperative manoeuvres among a ship and tugboats

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