Ship control of unberthing manoeuvring using an online estimation model under disturbance
Because a ship’s manoeuvrability changes nonlinearly with speed variations, designing controllers for berthing and unberthing requires a motion model that reflects these variations. This study proposes a control method with an online estimation model, where parameters are estimated based on observed...
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2025-12-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
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| Online Access: | http://dx.doi.org/10.1080/18824889.2025.2474299 |
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| _version_ | 1850273393971036160 |
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| author | Hideto Kashiwagi Tadatsugi Okazaki |
| author_facet | Hideto Kashiwagi Tadatsugi Okazaki |
| author_sort | Hideto Kashiwagi |
| collection | DOAJ |
| description | Because a ship’s manoeuvrability changes nonlinearly with speed variations, designing controllers for berthing and unberthing requires a motion model that reflects these variations. This study proposes a control method with an online estimation model, where parameters are estimated based on observed ship motion. Using the gradient descent method for model estimation stabilizes updates in the presence of noise. To compensate for steady disturbances such as tidal currents, the effect of external force is estimated and used to calculate corrections for control inputs. The proposed method was verified by simulations under multiple disturbance conditions. The control system using the online estimation model demonstrated stable control in unberthing manoeuvring and effective disturbance compensation under steady deviation conditions. |
| format | Article |
| id | doaj-art-bb2ec560ef344d61bb50b9fb042db2b3 |
| institution | OA Journals |
| issn | 1884-9970 |
| language | English |
| publishDate | 2025-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj-art-bb2ec560ef344d61bb50b9fb042db2b32025-08-20T01:51:30ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702025-12-0118110.1080/18824889.2025.24742992474299Ship control of unberthing manoeuvring using an online estimation model under disturbanceHideto Kashiwagi0Tadatsugi Okazaki1Tokyo University of Marine Science and TechnologyTokyo University of Marine Science and TechnologyBecause a ship’s manoeuvrability changes nonlinearly with speed variations, designing controllers for berthing and unberthing requires a motion model that reflects these variations. This study proposes a control method with an online estimation model, where parameters are estimated based on observed ship motion. Using the gradient descent method for model estimation stabilizes updates in the presence of noise. To compensate for steady disturbances such as tidal currents, the effect of external force is estimated and used to calculate corrections for control inputs. The proposed method was verified by simulations under multiple disturbance conditions. The control system using the online estimation model demonstrated stable control in unberthing manoeuvring and effective disturbance compensation under steady deviation conditions.http://dx.doi.org/10.1080/18824889.2025.2474299ship controlunberthing manoeuvringsystem identificationonline estimation modeldisturbance compensation |
| spellingShingle | Hideto Kashiwagi Tadatsugi Okazaki Ship control of unberthing manoeuvring using an online estimation model under disturbance SICE Journal of Control, Measurement, and System Integration ship control unberthing manoeuvring system identification online estimation model disturbance compensation |
| title | Ship control of unberthing manoeuvring using an online estimation model under disturbance |
| title_full | Ship control of unberthing manoeuvring using an online estimation model under disturbance |
| title_fullStr | Ship control of unberthing manoeuvring using an online estimation model under disturbance |
| title_full_unstemmed | Ship control of unberthing manoeuvring using an online estimation model under disturbance |
| title_short | Ship control of unberthing manoeuvring using an online estimation model under disturbance |
| title_sort | ship control of unberthing manoeuvring using an online estimation model under disturbance |
| topic | ship control unberthing manoeuvring system identification online estimation model disturbance compensation |
| url | http://dx.doi.org/10.1080/18824889.2025.2474299 |
| work_keys_str_mv | AT hidetokashiwagi shipcontrolofunberthingmanoeuvringusinganonlineestimationmodelunderdisturbance AT tadatsugiokazaki shipcontrolofunberthingmanoeuvringusinganonlineestimationmodelunderdisturbance |