An automatic control system applying decoupling control methodology for ship harbor maneuvers

Presented and discussed in this paper are mathematical model used for expressing ship motions, application of decoupling control methodology to construct the automatic control system and corresponding designing issues. Simulation results for a very large crude carriage (VLCC) in a typical harbor maneuver are given to verify the designing of the control method. Excellent effects of the automatic control system are showed by very good simulation results of ship motions during several 180 deg. turning maneuvers under various strong wind conditions. Robustness of the control system against parameters' uncertainty, strong environment disturbances such as strong wind and currents is also studies and presented in this paper.