Comparison of Advanced Control Strategies for Automated Docking. Issue 16 (2021)

• Record Type: Journal Article
• Authors: Wirtensohn, Stefan; Hamburger, Oliver; Homburger, Hannes; Kinjo, Leticia Mayumi; Reuter, Johannes
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 16(2021)
• Page Start: 295
• Page End: 300
• Publication Date: 2021
• Subjects: Automated Docking of Vessels -- Nonlinear Control Design -- Monte Carlo Simulations -- Docking Experiments; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.10.107
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, a systematic comparison of three different advanced control strategies for automated docking of a vessel is presented. The controllers are automatically tuned offline by applying an optimization process using simulations of the whole system including trajectory planner and state and disturbance observer. Then investigations are conducted subject to performance and robustness using Monte Carlos simulation with varying model parameters and disturbances. The control strategies have also been tested in full scale experiments using the solar research vessel Solgenia. The investigated control strategies all have demonstrated very good performance in both, simulation and real world experiments. Videos are available under https://www.htwg-konstanz.de/forschung-und-transfer/institute-und-labore/isd/regelungstechnik/videos/