Paper Info
Title
Automated maneuvering using model-based control as key to autonomous shipping
Abstract
The paper discusses methods to increase the level of automation in ship handling towards autonomous operations with a focus on conventional vessels in maneuvering situations. In this context, a model-based approach for control system design of maneuvering vessels is introduced. The resulting model is applied to a multivariable control system including allocation, feedforward, and feedback modules. The established hybrid control system distinguishes between a transit mode with control in two degrees of freedom in compliance with the prevailing traffic regulations and a dynamic positioning mode in three degrees of freedom for the final stages of a berthing maneuver. The supervisor switches automatically between these two modes. The methods are validated on board the German research vessel DENEB in the port of Rostock.
Year
DOI
Venue
2022
10.1515/auto-2021-0146
AT-AUTOMATISIERUNGSTECHNIK
Keywords
DocType
Volume
berthing, motion control, maritime control, autonomous shipping, model-based control, allocation, optimal control
Journal
70
Issue
ISSN
Citations 
5
0178-2312
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Tobias Hahn100.34
Robert Damerius201.01
Carsten Rethfeldt300.68
Agnes U. Schubert400.68
Martin Kurowski502.37
Torsten Jeinsch601.69