Abstract
In order to operate the berthing maneuver automatically, a control system was developed. This system is composed of a ranging system and a controller. A control logic based on a prediction of a motion was adopted and a feed back control was used subsidiarily to improve the performance of the system. Actual trial using this automatic berthing system was executed. And following results were obtained. (1) The smooth course was obtained during the trial. (2) The final position error and the berthing velocity seem to be acceptable. (3) A control logic based on a prediction of the motion did not operate successfully but a feed back control recovered this well.
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