선박 자동 이접안을 위한 비선형 제어 알고리즘 연구

Abstract

This study discusses the design of an automatic berthing control algorithm for ships with a bow thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the low speed maneuvering of ships was used to design a MIMO nonlinear control algorithm. The algorithm consists of two parts, which are forward velocity control and heading angle control. The control algorithm is designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle is obtained by the so called “Line of Sight” method. An optimal control force allocation method of the rudder and the thrusters is suggested. The nonlinear control algorithms are tested by numerical simulations using MATLAB, and shows good tracking performances.