ObjectiveAiming at the problem of the autonomous berthing control of tugboats, this study focuses on the application of a target tracking control strategy based on virtual leadership. MethodsFirst, the autonomous berthing process of the tugboat is transformed into the target tracking control process of the virtual tugboat and actual tugboat. A kinematics model of the berthing system is then designed. Considering special environmental interference in the berthing scenario, the backstepping method and sliding mode control method are used to design an autonomous berthing controller for an azimuth stern drive tugboat. Three different sliding mode surfaces are provided and the stability is verified by the Lyapunov function. Finally, a simulation test is used to verify the control effect through the berthing trajectory, speed error and distance error. ResultsThe simulation results show that the designed tugboat autonomous berthing control strategy and controller have a good effect in the tugboat autonomous berthing scenario and good performance in the face of uncertain disturbances of the system. ConclusionsThe control strategy and berthing controller designed in this paper have good applicability and robustness. The autonomous berthing control of tugboats is realized from a new angle, providing a new direction for subsequent research on the berthing control of tugboats.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Autonomous berthing control of tugboat based on improved backstepping sliding mode control algorithm


    Beteiligte:
    Jialun LIU (Autor:in) / Zhilin DONG (Autor:in) / Shijie LI (Autor:in) / Xu YOU (Autor:in) / Yingjun HU (Autor:in)


    Erscheinungsdatum :

    2024




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt





    Tugboat

    BANGSLUND THOMAS | Europäisches Patentamt | 2023

    Freier Zugriff

    Tugboat

    THOMAS BANGSLUND | Europäisches Patentamt | 2019

    Freier Zugriff

    Tugboat

    Europäisches Patentamt | 2018

    Freier Zugriff