초대형 컨테이너선의 자율운항 제어 및 경로 추종에 관한 연구

다국어 초록 (Multilingual Abstract)

This paper deals with the L1 nonlinear guidance law to the very large-container ship (VLCS) model in the actual seas. A guidance algorithm of an Unmanned Aerial Vehicle (UAV) was applied to the marine vessels. This guidance has the unique two features, such as precise path following capability and chase aggressive maneuvers. Thus it can be applied to the ‘tight manoeuvres’ of the Anderson turn for search and rescue activities. Above all, the advantages of a guidance law, which resembles an agile quartermaster, were accomplished in a circular path. The combination of Pixhawk 4 and QGroundControl, which many UAV users hold, was employed in the experimentation. The quantitative results and graphical illustrations were presented based on the forward speed.
A 20,000TEU container ship model of fiberglass materials was prepared, considering low resistance and vibration, to track a predefined waypoint autonomously. The ship name and the parameter of control tuning were written in italics. This study was organized based on the test on the 16th of March 2025.
For the numerical simulation parts, a novel control strategy has solved the peak phenomena of sliding variables and the hardship in suppressing displacement/angle and velocity. The adaptive fractional-order super-twisting algorithm (AFOSTA) shows the several potential advantages over other approaches, such as non-overestimating adaptive gains, smooth control action with chattering reduction, stability, and robustness against disturbances. The Lyapunov theory proves the robust stability of the proposed control algorithm. The effectiveness of the new ship controller is verified via numerical simulation tests. Finally, an active control mechanism guarantees the safe maneuvering of VLCS on heavy seas with big waves.