In order to realize accurate and fast firefighting at sea, a control method for water cannons of unmanned fireboats considering wind and ship motion disturbances is presented. This method combines information fusion, computer vision, and prediction t...
Due to the influence of the natural environment, it is very challenging to control the movement of ships to navigate safely and avoid potential risks induced by external environmental factors, especially for the development of autonomous ships in inl...
For the motion control of ships in confined and curved waterways, from broad coastal channels to narrow river bends, conventional methods often struggle to ensure both tracking accuracy and navigational safety. A key deficiency is the inability of st...
The stability and tracking controls of a dynamic ship system are studied in this paper, in order to stabilize and track the desired path of a catamaran ship system. The ship sails on a river that is prone to currents, wind, and unknown disturbances f...
At present, with the development of waterborne transport vehicles, research on ship faces a new round of challenges in terms of intelligence and autonomy. The concept of maritime autonomous surface ships (MASS) has been put forward by the Internation...
This study aims to improve control accuracy across various ship types, speeds, and external interference scenarios using conventional control methods. The ship’s maneuvering model is identified online and the identified parameters are applied f...
This paper aims to study the nonparametric modeling and control of ship steering motion. Firstly, the black box response model is derived based on the Nomoto model. Then, the establishment of a nonparametric response model and prediction of ship stee...
Ship cargo-hold cleaning is a low-efficiency and high-risk operation in marine industry, which is generally carried out manually, putting the workers in danger. To improve the efficiency and safety of ship cargo-hold cleaning, a C-DCR is proposed in...
Ship transportation plays an increasingly important role in and accounts for a large proportion of cargo transport. Therefore, it is necessary to improve the quality of the trajectory control system of the ship for improving the transport efficiency...
In recent years, as intelligent ship-navigation technology has advanced, the challenge of accurately modeling and predicting the dynamic environment and motion status of ships has emerged as a prominent area of research. In response to the diverse ti...
The swaying motion of ships can always be generated due to the influence of complex sea conditions. A novel offshore Self-Stabilized system based on motion prediction and compensation control was studied. Firstly, an autoregressive model of ship moti...
The concept of the Marine Autonomous Surface Ship (MASS) requires new solutions in many areas: from law, through economics, social sciences, environmental issues to the technology and even ethics. It also plays a central role in the work of numerous...
The autonomous operation of a device or a system is one of the many vital tasks that need to be achieved in many areas of industry. This is also true for maritime transport. This paper introduces an approach developed in order to achieve the autonomo...
Wave-induced motion and load responses are important criteria for ship performance evaluation. Physical experiments have long been an indispensable tool in the predictions of ship’s navigation state, speed, motions, accelerations, sectional loads and...
Dynamic target tracking is a challenging task for autonomous ships due to the continuous variation of relative motion states and the requirement for coordinated control of position, heading, and speed. This paper proposes a task-oriented continuous d...
With the rapid expansion of offshore wind farms into deeper waters, large-scale wave-compensated transfer gangways have become critical equipment for ensuring safe personnel transfer between maintenance vessels and wind turbines. However, the increas...
This study presents an innovative control strategy for enabling ships to perform automatic U-turns in restricted waters, with a focus on minimizing energy consumption and reducing wear on the steering gear. The strategy integrates a closed-loop gain-...
The article deals with a simulation approach to the representation of the ship motions in waves, interacting with the propulsion system behavior (diesel engine and propeller). The final goal is the development of a simulator, as complete as possible,...
A robust H∞-type state feedback model predictive control (H∞-SFMPC) with input constraints is proposed to optimize the control performance during the ship sailing. Specifically, the approach employed in this paper is able to optimize the...
Barge ships are designed to transport and assemble heavy and massive pieces of equipment at sea. Active propulsion systems are not installed in this type of ship, so the desirable motion and positioning of these ships can only be achieved with the as...
In spite of the IMO’s efforts to improve the safety of intact stability on ships, synchronous rolling still causes large rolling angles, resulting in a very dangerous situation on board. The implementation of automatic tools to predict this und...
The effective use of energy proposes using less energy to achieve the same goal. The International Maritime Organization started using criteria for ship’s energy efficiency in 2013, when the new International Convention for the Prevention of Po...
In maritime navigation, precise and stable ship course control is critical for operational efficiency and maritime safety, yet it is severely challenged by unpredictable marine disturbances (e.g., waves, wind, and currents) that consist of slowly var...
To reduce the ship trajectory control difficulty, a ship trajectory control method based on active disturbance rejection control and radial basis function neural network is designed. Firstly, a separated model structure is proposed to model the ship&...
In the process of ship navigation, due to the characteristics of large inertia and large time delay, overshoot can easily occur in the process of path following. Once the ship deviates from the waypoint, it is prone to grounding and collision. Consid...
A new type of path-following method has been developed to steer marine surface vehicles along desired paths. Path-following is achieved by a new hyperbolic guidance law for straight-line paths and a backstepping control law for curved paths. An optim...
Dimensional control of tall-ship masts is difficult: rigging occludes deck-based surveys, and registration to a design model assumes it matches the as-built structure. We present a deterministic, self-referential method that measures mast bending fro...
In active heave compensation, in order to realize the smooth control of the heave compensation platform, it is necessary to use the ship motion measurement system to accurately obtain the ship displacement signal, invert the ship displacement signal,...
This paper proposes a method for the online parameter identification of nonlinear ship motion systems. First, the motion system of a ship is nonlinear, and in the course of sailing, the motion parameters of the ship will change with the change of the...
In recent years, marine autonomous surface vessels (MASS) have grown into a ship research issue to increase the level of autonomy of ship behavior decision-making and control while sailing at sea. This paper focuses on the MASS motion control module...
Through the continuous development of intellectualization, considering the lifecycle of ships, the future of a waterborne traffic system is bound to be a mixed scenario where intelligent ships of different autonomy levels co-exist, i.e., mixed waterb...
The rudder is used for damping the roll motion of a ship. Study of this motion is the essence of this paper. The responses of yaw and roll motions are different as the rudder angle varies. The low frequency motion of the rudder mainly affects the shi...
There has been significant interest in the research field of ship automatic navigation, particularly in the area of autonomous berthing. To address the key challenges of path planning and control during ship berthing, we propose an enhanced Linear&mi...
As most of the current dynamic positioning systems are based on model ships, they cannot accurately reflect the motion state, position changes, and mutual influence of each part of the dynamic positioning system of actual ships in complex environment...
Predicting a ship’s motion trend in waves is crucial for safe navigation and operation. Existing prediction models are mostly based on the assumption of local linear dynamics, which can achieve great performance in idealized ocean environments....
In order to reduce the offshore wind power operation and maintenance vessel motion induced by severe sea states, a suitable stabilizer with the ship based on linear quadratic regulator strategy is proposed in this paper. First of all, the dynamics of...
The growth of global energy transportation has promoted the rapid increase of large-scale LNG (liquefied natural gas) carriers, and concerns around the safety of LNG ships has attracted significant attention. Such a floating structure is affected by...
The motion control of a surface ship based on a four degrees of freedom (4-DoF) (surge, sway, roll, and yaw) maneuvering motion model is studied in this paper. A time-scale decomposition method is introduced to solve the path-following problem, imple...
A fuzzy control improvement method is proposed with an integral line-of-sight (ILOS) guidance principle to meet the needs of autonomous navigation and high-precision control of ship trajectories. Firstly, a three-degree-of-freedom ship motion model w...
In this paper, the path following of an underactuated ship as a fundamental application for autonomous sailing in seaways is studied. First, the guidance system based on the line of sight (LOS) method is established to handle underactuated dynamics o...
Visual aids for navigation systems are a key function of intelligent onboard navigation units for ships. These systems visualize the planning decisions of an intelligent navigation unit for computer-aided visual navigation to reduce the cognitive wor...
In complex marine environments, accurate prediction of maneuvering motion is crucial for the precise control of intelligent ships. This study aims to enhance the predictive capabilities of maneuvering motion for intelligent ships in such environments...
The rolling and heeling experienced by a ship during turning will be more severe under the interference of winds and waves, which will seriously affect the navigation safety of the ship. The fin stabilizer is currently the best active anti-rolling de...
Due to a ship’s extreme motion, there is a risk of injuries and accidents as people may become unbalanced and be injured or fall from the ship. Thus, individuals must adjust their movements when walking in an unstable environment to avoid falli...
In order to simulate or control the coupled heave–pitch motion of ships in waves as realistically as possible, an appropriate mathematical model must be established in advance. In this paper, a nonparametric identification method, based on a co...
Existing research on auto-berthing of ships has mainly focused on the design and implementation of controllers for automatic berthing. For the real automatic docking processes, not only do external environmental perturbations need to be taken into ac...
The system identification of a ship dynamics model is crucial for the intelligent navigation and design of the ship’s controller. The fluid dynamic effect and the complicated geometry of the hull surface cause a nonlinear or asymmetrical behavior, an...
The lift force of a T-foil, which varies with ship motion, can counteract the wave exciting force during wave encounters. The phase difference between the periodic lift force and the wave exciting force significantly impacts the T-foil’s effect...
T-foils with active control systems can adjust their attack angle according to the movement of the ship in real time, providing higher lift force and improving the seakeeping performance of a ship. The optimization of the control signal and that of t...
Aiming at the uncertainty problem caused by the time-varying modeling parameters associated with ship speed in the course tracking control of underactuated surface vessels (USVs), this paper proposes a control algorithm based on the dynamic neural fu...
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