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Title:Automatic docking for underactuated ships based on multi-objective nonlinear model predictive control
Authors:S. Li, J. Liu, R.R. Negenborn

Journal:IEEE Access

Abstract:Autonomous shipping refers to the ability of a ship to independently control its own actions while transporting cargoes from one port to another, which put higher requirements on ship motion control methods. When a ship enters a port, it is important to ensure that the ship sails from the fairway area to the assigned position at the berth with a desirable speed and finally stopped at the desired position. Ship docking is known as one of the most challenging tasks due to the nonlinearity of low-speed ship movements and the high requirements on collision avoidance with the quayside. This paper proposes a nonlinear model predictive control (NMPC) -based approach for underactuated ships, which gives optimal ship rudder angles and propeller revolution to automate the ship docking process. At each sampling instant, a finite horizon optimal control problem is formulated based on a nonlinear ship maneuverability model. A lexicographic multi-objective optimization strategy is proposed in design of NMPC controller, which could save the efforts on tuning control parameters. Simulation experiments are carried out to evaluate the effectiveness of the proposed approach.

Reference:S. Li, J. Liu, R.R. Negenborn. Automatic docking for underactuated ships based on multi-objective nonlinear model predictive control. Accepted for publication in IEEE Access, December 2020.
Download:Open access.


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