Research on the Control Strategy and Control Method of Ship’s Automatic Berthing

Abstract

Ship berthing and maneuvering have become one of the difficult and complex maneuvers. With the development of large-scale, rapid, and automated ships, the navigation safety and efficiency of ships have become more and more important. In this study, the control problem of automatic berthing is studied and analyzed, and the control strategy of automatic berthing is compared and analyzed. This study uses dynamic output feedback control, robust control, neural network control and other methods to automatically berth under-driven ships. In the research of berthing control, a robust adaptive control method is proposed by combining dynamic surface control technology with backstepping method for the automatic berthing control problem of intelligent ships under the influence of environmental disturbance and quay wall effect. This method solves the problem of increased computational complexity caused by the traditional backstepping method for the virtual control derivation, and effectively eliminates the chattering phenomenon of the control output.