The Proceedings of the International Conference on Motion and Vibration Control
Online ISSN : 2424-2977
6.2
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STUDY ON A DECOUPLING CONTROLLER FOR SHIP HARBOR MANEUVERS AND ITS ROBUSTNESS
Minh Duc LELan Anh NGUYENTien Vinh NGUYENCong Su NGUYENThi Can NGUYENQuang Trinh HA
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Pages 919-924

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Abstract
This paper deals with controlling of large ships in harbour manoeuvres by applying the Decoupling Control Method (DCM). Ship motions are expressed by a multi-term non-linear model. The DCM applied to the ship non-linear model is described and issues concerning designing the controller are discussed. The method and its excellent effectiveness are illustrated by simulation of a Very Large Crude Carriage (VLCC) in a typical pattern of approaching and berthing manoeuvres. Robustness of the controller is also studied by examining its ability in dealing with influences of parameters' uncertainty and environmental disturbances' effects (such as strong wind and current).
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© 2002 The Japan Society of Mechanical Engineers
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