Researching | Autonomous berthing control of tugboat based on improved backstepping sliding mode control algorithm

Chinese Journal of Ship Research, Volume. 19, Issue 1, 119(2024)

Autonomous berthing control of tugboat based on improved backstepping sliding mode control algorithm

Jialun LIU^1,2,3,4, Zhilin DONG^1,5, Shijie LI^1,2,5, Xu YOU^1,5, and Yingjun HU^2,6

Author Affiliations

¹State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, China

²Laboratory of Science and Technology on Marine Navigation and Control, China State Shipbuilding Corporation, Tianjin 300131, China

³Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China

⁴National Engineering Research Center for Water Transport Safety, Wuhan 430063, China

⁵School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China

⁶Tianjin Navigation Instruments Research Institute, Tianjin 300131, China

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Table 1. Performance index of berthing control system
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Table 1. Performance index of berthing control system
控制器镇定频率/Hz 最大舵幅/（°）平均跟踪偏差/m 最终跟踪偏差/m
PD-SMC 0.32 78.0 0.140 −0.47
PI-SMC 1.31 21.2 −0.004 −0.11
PID-SMC 0.67 42.2 0.090 −0.05

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Jialun LIU, Zhilin DONG, Shijie LI, Xu YOU, Yingjun HU. Autonomous berthing control of tugboat based on improved backstepping sliding mode control algorithm[J]. Chinese Journal of Ship Research, 2024, 19(1): 119

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Paper Information

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Received: Dec. 23, 2022

Accepted: --

Published Online: Mar. 18, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.03227

Topics

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