Abstract
Abstract In this paper, the optimal control problem for ship's automatic berthing is discussed. Some optimal solutions are obtained by solving nonlinear two-points boundary value problems. The equations of motions in berthing maneuvering arc represented by sophisticated nonlinear mathematical model. These models consist of continuous functions, so that the optimal control techniques can be applied. Thus, the authors apply a sequential conjugate algorithm to such a nonlinear optimal control problem with nondifferential constraints and general boundary conditions and at the moment solve the minimum time approaching problem for the berthing to the pier from the given point, using rudder, engine and/or side thruster.
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