Guidance and Motion Control for Automated Berthing of Twin-waterjet Propelled Vessels

Zijing Xu, Roberto Galeazzi

Research output: Contribution to journalJournal articleResearchpeer-review

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Abstract

The berthing of vessels is a safety critical operation due to tight requirements for precise navigation in the constrained harbor area. This study proposes a novel guidance and motion control algorithm to achieve the automated berthing operation of a twin-waterjet propelled vessel. A three phases guidance algorithm is devised that enables the smooth operation of the vessel between the transition and docking phase. The superior manoeuvrability offered by the twin-waterjet propulsion system provides high precision control of the vessel also at low speed, and the possibility of performing complex manoeuvres in limited space. A sliding mode manoeuvring controller and a two stage trust allocation scheme translate the computed speed and heading set-points into actual control actions. A simulation case study is utilized to verify the feasibility of the proposed berthing strategy.

Original languageEnglish
Book seriesIFAC-PapersOnLine
Volume55
Issue number31
Pages (from-to)58-63
ISSN2405-8963
DOIs
Publication statusPublished - 2022
Event14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles - Technical University of Denmark, Kongens Lyngby, Denmark
Duration: 14 Sept 202216 Sept 2022
https://www.ifac-cams2022.dk/

Conference

Conference14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles
LocationTechnical University of Denmark
Country/TerritoryDenmark
CityKongens Lyngby
Period14/09/202216/09/2022
Internet address

Keywords

  • Automated berthing
  • Marine systems guidance
  • Navigation
  • Control
  • Thrust allocation
  • Waterjet vessels

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