Abstract
Automatic ship berthing under environmental disturbances is considered one of the most challenging control tasks. In particular, wind is a dominant disturbance that greatly impacts ships’ berthing operations. Feedforward control with disturbance observation is a common strategy to compensate for wind effects, however the disturbance observation is limited to mild low-frequency disturbances. Its prediction accuracy and the resultant control performance of wind-effect compensation degrade in severe wind conditions. This study proposes a new control strategy for wind compensation based on the reachable set reflecting the characteristics of the controller and bounded wind disturbance. State feedback linearization is used for berthing control and zonotope sets are employed for reachability analysis. Simulation results are presented to demonstrate the proposed wind compensation method's feasibility and performance.
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