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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 LIU1,2,3,4, Zhilin DONG1,5, Shijie LI1,2,5, Xu YOU1,5, and Yingjun HU2,6
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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    References(9)

    [2] LIU J L, YAN X P, LIU C G et al. Developments and applications of green and intelligent inland vessels in China[J]. Journal of Marine Science and Engineering, 11, 318(2023).

    [3] LI S J, XU C Q, LIU J L et al. Data-driven docking control of autonomous double-ended ferries based on iterative learning model predictive control[J]. Ocean Engineering, 273, 113994(2023).

    [8] WANG N, ER M J. Direct adaptive fuzzy tracking control of marine vehicles with fully unknown parametric dynamics and uncertainties[J]. IEEE Transactions on Control Systems Technology, 24, 1845-1852(2016).

    [9] NGUYEN V S, IM N K. Automatic ship berthing based on fuzzy logic[J]. International Journal of Fuzzy Logic and Intelligent Systems, 19, 163-171(2019).

    [11] PARK J Y, KIM N. Design of an adaptive backstepping controller for auto-berthing a cruise ship under wind loads[J]. International Journal of Naval Architecture and Ocean Engineering, 6, 347-360(2014).

    [14] WANG N, ER M J, HAN M. Dynamic tanker steering control using generalized ellipsoidal-basis-function-based fuzzy neural networks[J]. IEEE Transactions on Fuzzy Systems, 23, 1414-1427(2015).

    [16] [16] ZOU T Y, SHEN Z P, DAI C S. Adaptive iterative sliding mode berthing control f underactuated ship based on chaotic particle swarm[C]Proceedings of the 37th Chinese Control Conference (CCC). Wuhan: IEEE, 2018: 1169−1174.

    [17] VU M T, CHOI H S, OH J Y et al. A study on automatic berthing control of an unmanned surface vehicle[J]. Journal of Advanced Research in Ocean Engineering, 2, 192-201(2016).

    [18] TRAN V L, IM N. A study on ship automatic berthing with assistance of auxiliary devices[J]. International Journal of Naval Architecture and Ocean Engineering, 4, 199-210(2012).

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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

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology