Intelligent Automatic Control of Ship Berthing with Improved LOS Guidance

The LOS guidance algorithm combined with a linear Active disturbance rejection controller is introduced into ship berthing control for the trajectory planning and tracking. This combination is good at dealing uncertainty of system parameters and time-varying disturbances. The algorithm for compensating ship coordinates is integrated into the LOG guidance control to improve the tracking accuracy in the process of ship turning and to accelerate the convergence process. The control design is simulated and good results are demonstrated.