Author(s)

Hiroaki Kobayashi

Abstract

Berthing manoeuvrability relating to a joy-stick type controller Hiroaki Kobayashi Tokyo University of Mercantile Marine, 2-1-6 Etchujima, Koto-ku, Tokyo 135, Japan ABSTRACT The mission of transportation should not be completed without safe and reliable berthing. In order to evaluate berthing maneuverability, the total system including a ship, the characteristics of actuators and control system must be considered. The control system that can make full use of the ability of ship's characteristics including actuators is necessary. At present, some berthing controllers which realize sway motion are actually available. However, the motion they can direct is limited to only parallel shift in the forward direction, that is to say they can hardly lead the transverse motion or parallel shift in the backward direction, which are mostly desired for berthing maneuver. In this paper, firstly a discussion is made on the development of the optimal controller which realizes the required condition menti

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