IEEE Journal of Oceanic Engineering最新文献_第5页

Heading Tracking Control of Sensor Network-Based Unmanned Surface Vessels: Event-Triggered Set-Membership Estimation Approach 基于传感器网络的无人水面舰艇航向跟踪控制：事件触发集隶属度估计方法

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-09 DOI: 10.1109/JOE.2026.3688889

Hui Yu;Yuanyuan Zhou;Na Xu

{"title":"Heading Tracking Control of Sensor Network-Based Unmanned Surface Vessels: Event-Triggered Set-Membership Estimation Approach","authors":"Hui Yu;Yuanyuan Zhou;Na Xu","doi":"10.1109/JOE.2026.3688889","DOIUrl":"https://doi.org/10.1109/JOE.2026.3688889","url":null,"abstract":"This article is focused on the heading tracking control (HTC) issue for a class of bandwidth-limited network-based unmanned surface vessel (USV) system, where the unknown-but-bounded (UBB) noise model is employed to portray the characteristics of the wave-induced disturbances. With the purpose of allocating network bandwidth effectively and utilizing communication resources rationally, the encoding–decoding mechanism and event-triggered strategy are put forward to schedule data transmission through a bit rate constrained channel. This work aims to propose a set-membership (SM) control scheme including SM filter and SM controller, such that the state estimation of USV remains within the allowable ellipsoidal set, and this ellipsoidal set is then used in SM controller to produce control input to track the reference. Based on the mathematical induction and the S-procedure, a set of sufficient conditions is derived for the addressed USV system satisfying the modified SM performance constraint. In turn, the filter gains can be obtained via solving an optimization problem subject to ellipsoidal constraint. In the end, a simulation example is conducted to verify the availability and feasibility of the proposed control scheme.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1862-1873"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

SA-MPC: Situational Awareness-Driven Model Predictive Control via Vision-SBES Fusion for Robust Underwater Obstacle Avoidance 基于视觉- sbes融合的态势感知驱动模型预测控制鲁棒水下避障

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-26 DOI: 10.1109/JOE.2026.3695320

Chuanxi Peng;Youpeng Pan;Xuewen Yang;Nan Wang;Zhibin Yu;Guangliang Li

{"title":"SA-MPC: Situational Awareness-Driven Model Predictive Control via Vision-SBES Fusion for Robust Underwater Obstacle Avoidance","authors":"Chuanxi Peng;Youpeng Pan;Xuewen Yang;Nan Wang;Zhibin Yu;Guangliang Li","doi":"10.1109/JOE.2026.3695320","DOIUrl":"https://doi.org/10.1109/JOE.2026.3695320","url":null,"abstract":"Given the complexity and uncertainty of underwater environments, achieving situational awareness (SA) and incorporating it into the control loop are essential for ensuring the safety of autonomous underwater vehicles (AUVs). This article presents a novel SA-model predictive control (MPC) framework that integrates vision-based perception and single beam echo sounder (SBES) sensing for robust obstacle avoidance. The proposed system consists of three key modules: 1) a depth fusion module that combines monocular depth estimation with sparse SBES range data to generate high-resolution, metric-consistent depth maps; 2) an SA perception module that infers environmental safety levels through spatiotemporal semantic reasoning, producing pixel-level safety maps; and 3) a learning-based MPC controller that embeds SA-derived spatial risk potentials into optimization process to achieve adaptive decision-making. Both simulation and real-world experiments are conducted to validate the proposed framework. The depth fusion module achieves a mean relative error of 1.65% for the global absolute depth estimation. The SA module effectively identifies dynamic and deformable obstacles, demonstrating improved environmental comprehension under visually degraded conditions. Furthermore, the SA-MPC controller achieves larger obstacle clearance, smoother trajectories, and lower energy consumption compared with traditional A*+MPC approaches. Overall, the proposed SA-MPC framework provides a cost-effective, perception-driven control strategy that enhances the lightweight AUVs operating in complex open-water environments.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1928-1941"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451972","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fusing Monocular RGB Images With AIS Data to Create a 3-D Bounding Box Estimation Data Set for Marine Vessels 融合单目RGB图像与AIS数据创建船舶三维边界框估计数据集

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-18 DOI: 10.1109/JOE.2026.3695330

Fabian Holst;Emre Gülsoylu;Simone Frintrop

{"title":"Fusing Monocular RGB Images With AIS Data to Create a 3-D Bounding Box Estimation Data Set for Marine Vessels","authors":"Fabian Holst;Emre Gülsoylu;Simone Frintrop","doi":"10.1109/JOE.2026.3695330","DOIUrl":"https://doi.org/10.1109/JOE.2026.3695330","url":null,"abstract":"This article presents a novel technique for creating a 3-D bounding box estimation data set for marine vessels by fusing monocular RGB images with automatic identification system (AIS) data. The proposed technique addresses the limitations of relying purely on AIS for location information, caused by issues like equipment reliability, data manipulation, and transmission delays. By combining vessel detections from monocular RGB images, obtained using an object detection network (YOLOX-X), with AIS messages, the technique generates 3-D bounding boxes that represent the vessels’ location, orientation, and dimensions. The article evaluates different object detection models to locate vessels in image space. We also compare two transformation methods [homography and perspective-n-point (PnP)] for aligning AIS data with image coordinates. The results of our work demonstrate that the PnP method achieves a significantly lower projection error compared to homography-based approaches used before, and the YOLOX-X model achieves a mean average precision of 0.80 at an Intersection over Union threshold of 0.5 for relevant vessel classes. We show that our approach allows the creation of a 3-D bounding box estimation data set without needing manual annotation. In addition, we introduce the Boats on Nordelbe Kehrwieder, a publicly available data set comprising 3753 images with 3-D bounding box annotations, created by our data fusion approach. This data set can be used primarily for benchmarking 3-D bounding box estimation networks. In addition, we introduce a set of 1000 images with 2-D bounding box annotations for ship detection from the same scene.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1676-1688"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Real-Time Path Planning for Multiple Autonomous Underwater Vehicles in Dense Obstacle Fields: The DA-IFDS Approach 多自主水下航行器在密集障碍物场中的实时路径规划：DA-IFDS方法

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-04-24 DOI: 10.1109/JOE.2026.3674024

Xizhe Chen;Shihong Yin;Yujing Li;Zhengrong Xiang

{"title":"Real-Time Path Planning for Multiple Autonomous Underwater Vehicles in Dense Obstacle Fields: The DA-IFDS Approach","authors":"Xizhe Chen;Shihong Yin;Yujing Li;Zhengrong Xiang","doi":"10.1109/JOE.2026.3674024","DOIUrl":"https://doi.org/10.1109/JOE.2026.3674024","url":null,"abstract":"Multiple autonomous underwater vehicles (AUVs) face dense static and dynamic obstacle threats during path planning in complex and dynamic subsea environments. Therefore, each AUV must achieve safe, reliable, and real-time path planning under limited local observations. This article proposes a 3-D path planning method for multiple AUVs, named the dynamically adaptive-interfered fluid dynamical system (DA-IFDS) algorithm. It employs a two-layer real-time decision-making framework: the high-level decision-making module outputs step-by-step parameters based on proximal policy optimization (PPO), while the low-level module determines the velocity direction of each step according to these parameters. Such a hierarchical design improves the learning efficiency and adaptability of multiple AUVs. This algorithm models obstacles as disturbances in the flow field and incorporates these parameters into the action space. It employs bidirectional gated recurrent units to process variable-length observation sequences, effectively addressing the observation inconsistency faced by traditional methods in dynamic obstacle scenarios. In addition, it designs a diversified reward function. Simulation results demonstrate that the proposed DA-IFDS algorithm outperforms soft actor-critic-IFDS, deep deterministic policy gradient-IFDS, and conventional PPO algorithms in terms of success rate, obstacle-avoidance performance, and planning efficiency, validating its effectiveness and superiority in real-time path planning for multiple AUVs in dense static and dynamic obstacle scenarios.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1787-1803"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Recurrent Neural Network-Enhanced Supertwisting Pitch Controller for Floating Offshore Wind Turbines: Nonlinear Synthesis and HIL Validation 一种用于浮式海上风力发电机的递归神经网络增强超扭螺距控制器：非线性综合与HIL验证

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-03-05 DOI: 10.1109/JOE.2026.3679242

Flavie Didier;Hedi Basbas;Djelalli Larioumlil;Yong-Chao Liu;Salah Laghrouche;Daniel Depernet

{"title":"A Recurrent Neural Network-Enhanced Supertwisting Pitch Controller for Floating Offshore Wind Turbines: Nonlinear Synthesis and HIL Validation","authors":"Flavie Didier;Hedi Basbas;Djelalli Larioumlil;Yong-Chao Liu;Salah Laghrouche;Daniel Depernet","doi":"10.1109/JOE.2026.3679242","DOIUrl":"https://doi.org/10.1109/JOE.2026.3679242","url":null,"abstract":"This article proposes a novel adaptive pitch control strategy for floating offshore wind turbines (FOWTs) operating in Region III. The controller combines a supertwisting algorithm (STA) with a recurrent radial basis function neural network (RRBFNN) to estimate and compensate for external disturbances in real time. The control law is derived from a simplified nonlinear control-oriented model of a 5-MW semisubmersible FOWT, without relying on linearization. A Lyapunov-based framework guarantees closed-loop stability and online neural adaptation. The proposed RRBFNN-STA controller is implemented on a hardware-in-the-loop platform integrating OpenFAST, a CompactRIO emulator, and a Beckhoff industrial controller. Validation is performed under three realistic wind and wave conditions, including extreme turbulence scenarios. Compared to a conventional STA and a gain-scheduled proportional–integral baseline controller, the RRBFNN-STA achieves significantly lower root-mean-square errors (RMSE), reducing rotor speed tracking error from over 1.5 to 0.24 r/min, and platform pitch velocity RMSE to 0.24 <inline-formula><tex-math>$^circ$</tex-math></inline-formula>/s. These results confirm the robustness and real-time applicability of the proposed control approach for pitch regulation in FOWTs under nonlinear and turbulent operating conditions.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2024-2046"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Structural Health Monitoring for Floating Offshore Wind Turbines Based on the Hilbert–Huang Transform and Random Forest Classification 基于Hilbert-Huang变换和随机森林分类的海上浮式风力机结构健康监测

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-08 DOI: 10.1109/JOE.2026.3683216

Yinde Qiao;Zefan Lin;Chenziyu Sun;Xizheng Zhao;Jinbin Liang

{"title":"Structural Health Monitoring for Floating Offshore Wind Turbines Based on the Hilbert–Huang Transform and Random Forest Classification","authors":"Yinde Qiao;Zefan Lin;Chenziyu Sun;Xizheng Zhao;Jinbin Liang","doi":"10.1109/JOE.2026.3683216","DOIUrl":"https://doi.org/10.1109/JOE.2026.3683216","url":null,"abstract":"Floating offshore wind turbines (FOWTs) work in the deep sea, where severe environmental conditions threaten their structural safety. Structural health monitoring (SHM) is crucial for the safe operation of FOWTs. Currently, the SHM of FOWTs faces the problem of a lack of engineering data and effective methods. In this study, structural damage data are generated by fully coupled simulations of a FOWT to simulate blade damage and mooring line breakage. To handle nonlinear and oscillating FOWT blade acceleration and platform pitch motion, the Hilbert–Huang transform–based method is used to extract time-varying frequency domain features. Multiple random forest (RF) models are trained and tested for different types of SHM, i.e., monitoring for blade damage and mooring line breakage. The results indicate that the RF model to identify mooring line breakage by platform pitch angle presented the best accuracy. The pitch angle signal is better than the blade acceleration data for recognizing damage from the platform. The results indicate that the established method is effective for the SHM of FOWTs.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1993-2007"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452022","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Heading Tracking Control of Sensor Network-Based Unmanned Surface Vessels: Event-Triggered Set-Membership Estimation Approach 基于传感器网络的无人水面舰艇航向跟踪控制：事件触发集隶属度估计方法

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-09 DOI: 10.1109/JOE.2026.3688889

Hui Yu;Yuanyuan Zhou;Na Xu

{"title":"Heading Tracking Control of Sensor Network-Based Unmanned Surface Vessels: Event-Triggered Set-Membership Estimation Approach","authors":"Hui Yu;Yuanyuan Zhou;Na Xu","doi":"10.1109/JOE.2026.3688889","DOIUrl":"https://doi.org/10.1109/JOE.2026.3688889","url":null,"abstract":"This article is focused on the heading tracking control (HTC) issue for a class of bandwidth-limited network-based unmanned surface vessel (USV) system, where the unknown-but-bounded (UBB) noise model is employed to portray the characteristics of the wave-induced disturbances. With the purpose of allocating network bandwidth effectively and utilizing communication resources rationally, the encoding–decoding mechanism and event-triggered strategy are put forward to schedule data transmission through a bit rate constrained channel. This work aims to propose a set-membership (SM) control scheme including SM filter and SM controller, such that the state estimation of USV remains within the allowable ellipsoidal set, and this ellipsoidal set is then used in SM controller to produce control input to track the reference. Based on the mathematical induction and the S-procedure, a set of sufficient conditions is derived for the addressed USV system satisfying the modified SM performance constraint. In turn, the filter gains can be obtained via solving an optimization problem subject to ellipsoidal constraint. In the end, a simulation example is conducted to verify the availability and feasibility of the proposed control scheme.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1862-1873"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Seabed Wide-Angle Reflection Coefficient and Source Radiation Pattern Measurements From a Low-Frequency Multibeam Sonar 低频多波束声呐的海底广角反射系数和源辐射方向图测量

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-18 DOI: 10.1109/JOE.2026.3691004

Charles W. Holland;Cody R. Henderson;Tim Sonnemann;Bjørnar Langli;Daniel L. Orange

{"title":"Seabed Wide-Angle Reflection Coefficient and Source Radiation Pattern Measurements From a Low-Frequency Multibeam Sonar","authors":"Charles W. Holland;Cody R. Henderson;Tim Sonnemann;Bjørnar Langli;Daniel L. Orange","doi":"10.1109/JOE.2026.3691004","DOIUrl":"https://doi.org/10.1109/JOE.2026.3691004","url":null,"abstract":"In acoustic remote sensing, the seabed frequency-domain reflection coefficient contains significant geoacoustic information, namely the depth and frequency dependence of sediment sound speed, density, and attenuation. Typical reflection measurements are performed with a towed source and/or receivers to obtain a range of seabed reflected angles. It is shown here that the measurements can be performed using a hull-mounted low-frequency multibeam sonar with an offboard fixed or drifting hydrophone. To obtain the reflection coefficient (as well as scattering strength and other quantities of potential interest), the multibeam sonar radiation pattern must be known. Radiation patterns and absolute levels of the Kongsberg SBP29 multibeam sonar are measured and reflection coefficient measurements are presented in two geologically dissimilar environments, the Eel River shelf, CA and the Santa Barbara Basin, CA. The reflection coefficient frequency and angle dependences are explored via forward modeling to determine regions of the data space that contain information about the geoacoustic properties.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2298-2313"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11570775","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452131","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust Multiping Forward-Looking Sonar Coherent Detection 鲁棒多频前视声纳相干探测

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-16 DOI: 10.1109/JOE.2026.3693862

Olivier Lerda;Guillaume Ginolhac;Ammar Mian;Jean-Philippe Ovarlez;Guillaume Matte;Didier Charlot

{"title":"Robust Multiping Forward-Looking Sonar Coherent Detection","authors":"Olivier Lerda;Guillaume Ginolhac;Ammar Mian;Jean-Philippe Ovarlez;Guillaume Matte;Didier Charlot","doi":"10.1109/JOE.2026.3693862","DOIUrl":"https://doi.org/10.1109/JOE.2026.3693862","url":null,"abstract":"We tackle the problem of adaptive multiping detection of quasi-static point-like targets by moving forward-looking sonar based on the principles of coherent imaging. Data are first repositioned using an amplitude and phase coregistration procedure, enabling correct compensation of sonar displacements induced by the platform's movements. The result is a data stack similar to the space time adaptive processing case, in which the target observations are brought back into coherence, and the covariance matrix of the clutter naturally has an underlying structure. We then show that a rank-1 multiping detector incorporating a structured estimator of the covariance matrix performs significantly better than a conventional single-ping detector. However, while rank-1 multiping detection works well for ideally phase-aligned signals, this is not always the case in practical applications. Subspace detection, particularized to phase uncertainties, then leads to a new detection test robust to the target phase shift and whose performance still outperforms conventional approaches. Numerous simulations and analyses of experimental sonar data are discussed and illustrated.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2258-2273"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452162","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Phased Predictive Berthing Control in Low-Speed Maneuvering for Autonomous Inland Ships 自主内河船舶低速机动的阶段性预测靠泊控制

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-03 DOI: 10.1109/JOE.2026.3685148

Chenguang Liu;Bo Liu;Wenxiang Wu;Guoqing Zhang;Xiao Lang

{"title":"Phased Predictive Berthing Control in Low-Speed Maneuvering for Autonomous Inland Ships","authors":"Chenguang Liu;Bo Liu;Wenxiang Wu;Guoqing Zhang;Xiao Lang","doi":"10.1109/JOE.2026.3685148","DOIUrl":"https://doi.org/10.1109/JOE.2026.3685148","url":null,"abstract":"To address the challenges of safe and efficient automatic berthing for underactuated inland ships without tugboat or lateral thruster assistance, this article introduces a phased predictive berthing control (PPBC) method designed for low-speed conditions with uncertainties. A maneuvering modeling group (MMG) model is initially developed, incorporating twin-propeller and twin-rudder configurations, environmental disturbances (i.e., wind and currents), and model uncertainties. Three distinct berthing strategies, i.e., bow-in berthing, parallel berthing, and stern-in berthing, are formulated to ensure the applicability for most of berthing scenarios with phased states constraints. A time-delay observer is designed to estimate environmental disturbances and model uncertainties, on the basis of which a reliable predictive model is constructed by using the low-speed MMG model and the estimated disturbances and uncertainties. Leveraging this model, a model predictive control (MPC) method is designed to achieve the trajectory tracking of berthing control, while accounting for both control input and phased-state constraints. Simulation results demonstrate that the proposed PPBC method outperforms conventional proportional–integral–derivative, sliding mode control, and standard MPC methods in terms of trajectory, heading, and speed tracking error across a range of evaluated berthing scenarios.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1942-1964"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451833","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0