Name
Title | ||
|---|---|---|
Adaptation of Parameter Space Model for Automatic Maneuvering with Research Vessel DENEB |
Abstract | ||
|---|---|---|
This paper focuses on the development of a parameter space model, which is applied for automatic berthing maneuvers of the German research vessel DENEB in Rostock Port. The holistic modeling approach for the entire operating range of a watercraft is characterized by a first-order structure with nonlinear parameters represented in look-up tables. The model on force level is divided in static and dynamic module, where the structure of the static part depends on the vessel specific actuator configuration. Simulation results of a highly complex hydrodynamic motion model from a ship handling simulator are used as the data basis, since such models are not directly suitable for controller design. Derived from the parameter space model, allocation and feed-forward systems are designed. Successful automatic berthing maneuvers in the port show the suitability of the model approach especially for robust maneuvering automation of vessels at low velocities. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/MED54222.2022.9837130 | 2022 30TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) |
DocType | ISSN | Citations |
Conference | 2325-369X | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Agnes U. Schubert | 1 | 0 | 0.68 |
| Robert Damerius | 2 | 0 | 1.01 |
| Carsten Rethfeldt | 3 | 0 | 0.68 |
| Martin Kurowski | 4 | 0 | 2.37 |
| Torsten Jeinsch | 5 | 0 | 1.69 |