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Comparison of Advanced Control Strategies for Automated Docking

  • 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/

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Metadaten
Author:Stefan WirtensohnORCiD, Oliver Hamburger, Hannes HomburgerORCiD, Leticia Mayumi Kinjo, Johannes ReuterORCiD
DOI:https://doi.org/10.1016/j.ifacol.2021.10.107
Parent Title (English):13th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2021), 22-24 September 2021, Oldenburg, Germany, (IFAC-PapersOnLine, Volume 54, Issue 16)
Volume:54
Publisher:Elsevier
Document Type:Conference Proceeding
Language:English
Year of Publication:2021
Release Date:2022/01/17
Tag:Automated Docking of Vessels; Nonlinear Control Design; Monte Carlo Simulations; Docking Experiments
Issue:16
First Page:295
Last Page:300
Institutes:Institut für Systemdynamik - ISD
Open Access?:Ja
Relevance:Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband)
Licence (German):License LogoCreative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International