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).
