Abstract
Abstract The paper discusses methods to increase the level of automation in ship handling towards autonomous operations with a focus on conventional vessels in maneuvering situations. In this context, a model-based approach for control system design of maneuvering vessels is introduced. The resulting model is applied to a multivariable control system including allocation, feedforward, and feedback modules. The established hybrid control system distinguishes between a transit mode with control in two degrees of freedom in compliance with the prevailing traffic regulations and a dynamic positioning mode in three degrees of freedom for the final stages of a berthing maneuver. The supervisor switches automatically between these two modes. The methods are validated on board the German research vessel DENEB in the port of Rostock.
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