Considering the nonlinearity of the ship kinematic and dynamics model, the accuracy required for automatic berthing, and the speed control during berthing, this paper proposes an automatic berthing method with state constraint control algorithm and speed allocation. The speed allocation method is used to solve the speed control problem in the berthing process, and the external condition constraints and the berthing accuracy of the nonlinear model of the ship can be solved by combining the state constraint control algorithm. The simulation results based on a supply ship model verify the effectiveness of the proposed method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Ship Automatic Berthing Control with State Constraints Using Speed Assignment


    Beteiligte:
    Fan, Junhao (Autor:in) / Ren, Junsheng (Autor:in) / Jiao, Xuechao (Autor:in) / Hu, Yu (Autor:in)


    Erscheinungsdatum :

    16.05.2025


    Format / Umfang :

    1213088 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Automatic ship berthing system

    RAO JING | Europäisches Patentamt | 2020

    Freier Zugriff

    Automatic berthing system for ship

    RAO JING | Europäisches Patentamt | 2020

    Freier Zugriff

    Berthing ship

    Vasco Costa, F. | Engineering Index Backfile | 1964


    Ship berthing device and ship berthing method

    YAN WEI / CHEN RUIDONG / FU NANCONG et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    AUTOMATIC BERTHING SYSTEM FOR UNMANNED SHIP

    GONG QINGTAO / TENG YAO / HU XIN et al. | Europäisches Patentamt | 2023

    Freier Zugriff