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Ship control of unberthing manoeuvring using an online estimation model under disturbance
https://oacis.repo.nii.ac.jp/records/2000705
https://oacis.repo.nii.ac.jp/records/20007059d5c2f18-2de6-423f-afd0-9cece68ad55c
| Item type | 学術雑誌論文 / Journal Article(1) | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2025-09-09 | |||||||||
| タイトル | ||||||||||
| タイトル | Ship control of unberthing manoeuvring using an online estimation model under disturbance | |||||||||
| 言語 | en | |||||||||
| 言語 | ||||||||||
| 言語 | eng | |||||||||
| キーワード | ||||||||||
| 主題 | Ship control, unberthing manoeuvring, system identification, online estimation model, disturbance compensation | |||||||||
| 資源タイプ | ||||||||||
| 資源タイプ | journal article | |||||||||
| アクセス権 | ||||||||||
| アクセス権 | metadata only access | |||||||||
| 著者 |
Kashiwagi, Hideto
× Kashiwagi, Hideto
× Okazaki, Tadatsugi
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| 書誌情報 |
en : SICE Journal of Control, Measurement, and System Integration 巻 18, 号 1, p. 2474299, 発行日 2025-03-11 |
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| 抄録 | ||||||||||
| 内容記述 | Because a ship’s manoeuvrability changes nonlinearly with speed variations, designing controllers for berthing and unberthing requires a motion model that reflects these variations. This study proposes a control method with an online estimation model, where parameters are estimated based on observed ship motion. Using the gradient descent method for model estimation stabilizes updates in the presence of noise. To compensate for steady disturbances such as tidal currents, the effect of external force is estimated and used to calculate corrections for control inputs. The proposed method was verified by simulations under multiple disturbance conditions. The control system using the online estimation model demonstrated stable control in unberthing manoeuvring and effective disturbance compensation under steady deviation conditions. | |||||||||
| 内容記述 | ||||||||||
| 内容記述 | 公開日: 2025-03-11 | |||||||||
| ISSN | ||||||||||
| 収録物識別子タイプ | PISSN | |||||||||
| 収録物識別子 | 1882-4889 | |||||||||
| 書誌レコードID | ||||||||||
| 収録物識別子タイプ | NCID | |||||||||
| 収録物識別子 | AA12293218 | |||||||||
| DOI | ||||||||||
| 関連タイプ | isVersionOf | |||||||||
| 識別子タイプ | DOI | |||||||||
| 関連識別子 | https://doi.org/10.1080/18824889.2025.2474299 | |||||||||
| 情報源 | ||||||||||
| 関連識別子 | https://www.tandfonline.com/doi/full/10.1080/18824889.2025.2474299#d1e156 | |||||||||
| 関連名称 | Publisher's Version/PDF (Open Access) | |||||||||
| 情報源 | ||||||||||
| 関連識別子 | https://www.iee.jp/ | |||||||||
| 関連名称 | Taylor & Francis | |||||||||
| 出版者 | ||||||||||
| 出版者 | Taylor & Francis | |||||||||
