Implementation and Evaluation of Non-linear Optimal Feedback Control for Ship’s Automatic Berthing by Recurrent Neural Network

摘要

In this paper, we present an automatic ship’s berthing system by non-linear optimal feedback controller. In the proposed method, the recurrent neural network is used for non-linear optimal feedback controller for the realistic operational conditions such as different berthing distances and different disturbances. To obtain the feasible non-linear controller, the recurrent neural network is trained using pre-computed non-linear optimal solutions for various conditions. In order to evaluate the performance of the proposed system, extensive computer simulations and actual sea tests are carried out using small training shipShioji-Maruunder various conditions. As a result, we can see that the proposed non-linear optimal feedback controller by recurrent neural network is useful for automatic berthing system for the ship.