Automatic Berthing Control of Ship Using Adaptive Neural Networks
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In this paper, an adaptive neural network controller and its application to automatic berthing control of ship is presented. Theneural network controller is trained online using adaptive interaction technique without any teaching data and off-line training phase. Firstly, the neural networks used to control rudder and propeller during automatic berthing process are presented. Secondly, computersimulations of automatic ship berthing are carried out in Pusan bay to verify the proposed controller under the influence of winddisturbance and measurement noise. The results of simulation show good performance of the developed berthing control system.
Abstract
In this paper, an adaptive neural network controller and its application to automatic berthing control of ship is presented. Theneural network controller is trained online using adaptive interaction technique without any teaching data and off-line training phase. Firstly, the neural networks used to control rudder and propeller during automatic berthing process are presented. Secondly, computersimulations of automatic ship berthing are carried out in Pusan bay to verify the proposed controller under the influence of winddisturbance and measurement noise. The results of simulation show good performance of the developed berthing control system.
참고문헌 (12)
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