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Collision-free automatic berthing of maritime autonomous surface ships via safety-certified active disturbance rejection control

  • 0School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China; State Key Laboratory of Maritime Technology and Safety, Dalian, China; Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, Dalian 116026, China.
Isa Transactions +

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March 21, 2024

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March 21, 2024

View abstract on PubMed

Summary

This summary is machine-generated.

This study introduces a safety-certified active disturbance rejection control (ADRC) method for autonomous ship berthing. The approach ensures collision avoidance and stable navigation in confined waters, even with disturbances.

Area Of Science

  • Maritime Autonomous Surface Ships (MASS)
  • Robotics and Control Systems
  • Ocean Engineering

Background

  • Autonomous navigation in confined waters presents challenges due to obstacles and environmental disturbances.
  • Existing control methods may not adequately address safety and robustness requirements for Maritime Autonomous Surface Ships (MASS).

Purpose Of The Study

  • To develop a safety-certified control method for automatic berthing of MASS in confined waters.
  • To ensure collision avoidance with static and dynamic obstacles, and shorelines.
  • To achieve precise position and heading stabilization despite model uncertainties and ocean disturbances.

Main Methods

  • A safety-certified active disturbance rejection control (ADRC) method is proposed.
  • An extended state observer (ESO) using a robust exact differentiator (RED) estimates uncertainties and disturbances.
  • Input-to-state safe high-order control barrier functions ensure collision avoidance.
  • Constrained quadratic programming (QP) optimizes control signals and thruster commands.

Main Results

  • The proposed method enables automatic berthing with guaranteed collision avoidance.
  • The system achieves stable position and heading control under various constraints and disturbances.
  • Input-to-state stability of the closed-loop system is theoretically proven.

Conclusions

  • The safety-certified ADRC method is effective for automatic berthing of MASS.
  • The approach enhances the safety and reliability of autonomous ship operations in complex environments.
  • Simulation results validate the performance and robustness of the proposed control strategy.

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