Automatic berthing of unmanned surface vessels with predetermined performance
Abstract To solve the problem of ship automatic berthing control due to unknown time-varying disturbance and dynamic uncertainty of model parameters, an automatic berthing control law based on predefined performance time function is proposed. First, a predefined performance time function is designed...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2024-03-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-024-56188-x |
| _version_ | 1797247357864116224 |
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| author | Qiwen Wang Qiang Zhang Enrui Zhao Yang Liu Yan Zhang |
| author_facet | Qiwen Wang Qiang Zhang Enrui Zhao Yang Liu Yan Zhang |
| author_sort | Qiwen Wang |
| collection | DOAJ |
| description | Abstract To solve the problem of ship automatic berthing control due to unknown time-varying disturbance and dynamic uncertainty of model parameters, an automatic berthing control law based on predefined performance time function is proposed. First, a predefined performance time function is designed and coupled with tracking error to achieve the predetermined performance of tracking error. Secondly, radial basis function neural network is used to approach the dynamic uncertainty of ship model parameters, and the complex uncertainty of model parameters and unknown time-varying disturbance is represented by linearized parameter form with single virtual parameter, which makes the calculation simple and easy to implement in engineering. On this basis, the reverse step control law is designed. Thirdly, the stability of the system is proved based on Lyapunov stability theory. Finally, the simulation results show that the control law can make the ship reach the desired position and heading angle, and realize the automatic berthing of the ship. The control law and berthing controller designed in this paper have good applicability and robustness, which provides a theoretical basis for the subsequent control research of surface intelligent ships. |
| first_indexed | 2024-04-24T19:57:25Z |
| format | Article |
| id | doaj.art-b187bd66be8a40b7985be80bacf59a17 |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-04-24T19:57:25Z |
| publishDate | 2024-03-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-b187bd66be8a40b7985be80bacf59a172024-03-24T12:18:05ZengNature PortfolioScientific Reports2045-23222024-03-0114111210.1038/s41598-024-56188-xAutomatic berthing of unmanned surface vessels with predetermined performanceQiwen Wang0Qiang Zhang1Enrui Zhao2Yang Liu3Yan Zhang4School of Navigation of Shipping, Shandong Jiaotong UniversitySchool of Navigation of Shipping, Shandong Jiaotong UniversitySchool of Navigation of Shipping, Shandong Jiaotong UniversitySchool of Navigation of Shipping, Shandong Jiaotong UniversitySchool of Navigation of Shipping, Shandong Jiaotong UniversityAbstract To solve the problem of ship automatic berthing control due to unknown time-varying disturbance and dynamic uncertainty of model parameters, an automatic berthing control law based on predefined performance time function is proposed. First, a predefined performance time function is designed and coupled with tracking error to achieve the predetermined performance of tracking error. Secondly, radial basis function neural network is used to approach the dynamic uncertainty of ship model parameters, and the complex uncertainty of model parameters and unknown time-varying disturbance is represented by linearized parameter form with single virtual parameter, which makes the calculation simple and easy to implement in engineering. On this basis, the reverse step control law is designed. Thirdly, the stability of the system is proved based on Lyapunov stability theory. Finally, the simulation results show that the control law can make the ship reach the desired position and heading angle, and realize the automatic berthing of the ship. The control law and berthing controller designed in this paper have good applicability and robustness, which provides a theoretical basis for the subsequent control research of surface intelligent ships.https://doi.org/10.1038/s41598-024-56188-x |
| spellingShingle | Qiwen Wang Qiang Zhang Enrui Zhao Yang Liu Yan Zhang Automatic berthing of unmanned surface vessels with predetermined performance Scientific Reports |
| title | Automatic berthing of unmanned surface vessels with predetermined performance |
| title_full | Automatic berthing of unmanned surface vessels with predetermined performance |
| title_fullStr | Automatic berthing of unmanned surface vessels with predetermined performance |
| title_full_unstemmed | Automatic berthing of unmanned surface vessels with predetermined performance |
| title_short | Automatic berthing of unmanned surface vessels with predetermined performance |
| title_sort | automatic berthing of unmanned surface vessels with predetermined performance |
| url | https://doi.org/10.1038/s41598-024-56188-x |
| work_keys_str_mv | AT qiwenwang automaticberthingofunmannedsurfacevesselswithpredeterminedperformance AT qiangzhang automaticberthingofunmannedsurfacevesselswithpredeterminedperformance AT enruizhao automaticberthingofunmannedsurfacevesselswithpredeterminedperformance AT yangliu automaticberthingofunmannedsurfacevesselswithpredeterminedperformance AT yanzhang automaticberthingofunmannedsurfacevesselswithpredeterminedperformance |