A Ship Control System in the Berthing Phase

• 발행기관: 한국항해항만학회
• 저자명: Van Phuoc Bui Young Bok Kim Kwang Hwan Choi
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2011 춘계학술대회논문집, 348~353쪽, 전체 6쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2011.06.30

영문 초록

This paper addresses the trajectory tracking problem for ship berthing using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and performance robustness with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

목차

ABSTRACT

1. Introduction

2. System Model

3. Sliding Mode Control Design

4. Simulation Results

5. Conclusion

References

키워드

ship model ship berthing sliding mode control trajectory tracking