In response to the challenges posed by shallow water effects, shore effects, environmental disturbances, as well as maneuvering constraints such as low speed and large drift angles, this paper conducts research on berthing problems of typical underactuated ships based on sliding mode variable structure control theory. Firstly, a three-degree-freedom maneuvering motion model of underactuated ships in harbors is established. Then, utilizing parameter identification methods, the first-order Nomoto model of the ship is obtained, upon which the sliding mode controller is designed. Considering the characteristics of model parameter uncertainty and enhanced wind disturbance at low speed within harbor, an improved extended state observer is designed to estimate internal and external disturbances, and compensation is performed during the controller design process. Finally, simulation results demonstrate that the berthing control algorithm for underactuated ships designed in this paper can achieve high-precision berthing trajectory tracking control, with strong robustness against external disturbances.
Underactuated Ships Berthing Control Based on Sliding Mode Active Disturbance Rejection Control
21.07.2024
667734 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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