Aiming at the problems of high cost and safety risk of manual berthing due to factors such as wind and low speed in the berthing control of underactuated unmanned ship, a robust adaptive PD controller based on characteristic model for automatic berthing is proposed in this paper. Firstly, considering the modeling difficulties caused by speed variation and wind disturbances during low speed berthing process of unmanned ship, the characteristic model of the ship is established based on the MMG modeling method. Then, according to the characteristic model, a robust adaptive PD controller is proposed to improve the track control accuracy of the unmanned ship berthing at low speed. Finally, the effectiveness of the proposed control is verified through applying it to a patrol ship. The simulation and experimental results show that the method can effectively improve the accuracy and robustness of unmanned ship berthing control.
Robust Adaptive Control Algorithm for Automatic Berthing of Underactuated Unmanned Ship
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 322 ; 3279-3290
18.03.2022
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Robust Adaptive Control Algorithm for Automatic Berthing of Underactuated Unmanned Ship
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