Abstract
The ship handling by a human operator using a propeller, a rudder and side thrusters is so troublesome against complex operations of these devices and especially under the external disturbances at dead speed in berthing or ocean research. It will be a necessary expected theme to simplify the dead slow speed maneuvering especially for domestic freight ships which repeat entries into a port and departures from there and also for oceanographic training ships. Thus in this study, the authors propose their original maneuvering function and the maneuverability of the controller operated in dead slow speed. In this first paper on such a theme, after estimating it, authors present an improved controller with better maneuvering function and maneuverability which is based upon conventional style of joystick controller. Further we will discuss a new method as a controllable design method using a weighting matrix on power distribution which have wide application among different type of ships. Lastly we show the results of full scale experiment at oceanographic observation operating above mentioned improved control system.
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