Work

Ship control of unberthing manoeuvring using an online estimation model under disturbance

Year: 2025

Type: article

Abstract: Because a ship’s manoeuvrability changes nonlinearly with speed variations, designing controllers for berthing and unberthing requires a motion model that reflects these variations. This study proposes a control method with an online estimation model, where parameters are estimated based on observed ship motion. Using the gradient descent method for model estimation stabilizes updates in the presence of noise. To compensate for steady disturbances such as tidal currents, the effect of external force is estimated and used to calculate corrections for control inputs. The proposed method was verified by simulations under multiple disturbance conditions. The control system using the online estimation model demonstrated stable control in unberthing manoeuvring and effective disturbance compensation under steady deviation conditions.

Source: SICE Journal of Control Measurement and System Integration

DOI: 10.1080/18824889.2025.2474299

Authors: Hideto Kashiwagi, Tadatsugi Okazaki

Institution: Tokyo University of Marine Science and Technology

Language: English

Topic: Ship Hydrodynamics and Maneuverability

Subfield: Ocean Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,235

Funder: Fundamental Research Developing Association for Shipbuilding and Offshore