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Ship Trajectory Tracking in Harbour Area by Using Autonomous Tugboats

Abstract In this paper, the authors propose a new approach for ship trajectory tracking in berthing area by using autonomous tugboats. Compared with previous approaches employed for automatic ship berthing, this approach overcomes the nominal effectiveness problem of actuators at slow speed maneuvering to improve ship operations in the harbor area. In this study, the sliding mode controller for trajectory tracking problem is proposed. The resulting sliding mode control law guarantees position tracking with a desired velocity in the presence of environmental disturbances. The proposed approach has been simulated with a supply model and found to work well.