Article(id=1254362830266896943, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, articleNumber=null, orderNo=null, doi=10.13788/j.cnki.cbgc.2026.03.01, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1743782400000, receivedDateStr=2025-04-05, revisedDate=1754841600000, revisedDateStr=2025-08-11, acceptedDate=null, acceptedDateStr=null, onlineDate=1776993003669, onlineDateStr=2026-04-24, pubDate=1774368000000, pubDateStr=2026-03-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1776993003669, onlineIssueDateStr=2026-04-24, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1776993003669, creator=13701087609, updateTime=1776993003669, updator=13701087609, issue=Issue{id=1254362823425974931, tenantId=1146029695717560320, journalId=1254119036117037056, year='2026', volume='48', issue='3', pageStart='1', pageEnd='190', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1776993002036, creator=13701087609, updateTime=1776993258606, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1254363899764077151, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1254363899764077152, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=1, endPage=10, ext={EN=ArticleExt(id=1254362832745730614, articleId=1254362830266896943, tenantId=1146029695717560320, journalId=1254119036117037056, language=EN, title=Fossen Model-Based Motion Control for Autonomous Berthing Path Planning of a Four-Degree-of-Freedom Ship, columnId=1254362824956895894, journalTitle=Ship Engineering, columnName=Special Topic: Intelligent Ship, runingTitle=null, highlight=null, articleAbstract=
[Purpose] In order to improve the ship in the actual berthing path control accuracy and other issues,
[Method] a ship berthing path planning method is proposed based on nonlinear model predictive control (NMPC) combined with moving horizon estimation (MHE), enabling future trajectory prediction and real-time control updates. A Fossen model of the ship is established in the four-degree-of-freedom (4-DOF): heave, pitch, yaw and roll. It adapts to the movement state and environmental changes of the ship on the water surface and improves the accuracy of berthing control. By simulating the simulation experiment of autonomous berthing path planning of papua new guinea and manila international port ships.
[Result] The results show that the trajectory error is less than 8.0 m and the berthing position error is only 0.6 m. The effectiveness, generalization and applicability of the proposed algorithm are verified. In order to more accurately simulate the ship's motion response in waves, a 4-DOF ship mathematical model is developed to provide more comprehensive ship motion information for the control system. It further realizes more accurate control and enhances the robustness of the system.
[Conclusion] The method provides theoretical and practical support for autonomous berthing in diverse port environments.
, correspAuthors=Chunyu SONG, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=Jianghua SUI, Xiaomin GUO, Chunyu SONG), CN=ArticleExt(id=1254362833760752185, articleId=1254362830266896943, tenantId=1146029695717560320, journalId=1254119036117037056, language=CN, title=基于Fossen模型的四自由度船舶自主靠泊路径规划与运动控制, columnId=1254362825296634520, journalTitle=船舶工程, columnName=专题：智能船舶, runingTitle=null, highlight=null, articleAbstract=
［目的］ 为提高船舶在实际靠泊过程中的路径规划和运动控制精度，
［方法］ 采用非线性模型预测控制（NMPC）与滚动时域估计（MHE）相结合的船舶靠泊路径规划方法，提出一种能预测船舶未来运动轨迹并在线更新船舶运动控制策略的非线性模型预测控制系统。建立船舶在横荡、纵荡、艏摇和横摇4个自由度上的Fossen动态模型，以适应船舶在水面上的运动状态和环境变化，从而提高船舶的靠泊控制精度。以巴布亚新几内亚及其邻近海域和马尼拉国际港的船舶自主靠泊路径规划为例开展仿真试验，验证该系统的有效性。
［结果］ 结果显示：采用该系统所得航迹误差均小于8.0 m，靠泊位置误差均为0.6 m。研究结果表明：所提系统的有效性、泛化性和适用性满足需求；建立的数学模型能为系统提供更全面的船舶运动信息，实现更精准的船舶运动控制，增强系统的鲁棒性。
［结论］ 研究成果可供不同港口环境下的智能船舶自主靠泊路径规划和运动控制参考。
, correspAuthors=宋纯羽, authorNote=null, correspAuthorsNote=
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本刊已许可中国学术期刊（光盘版）电子杂志社在中国知网及其系列数据库产品中以数字化方式复制、汇编、发行、信息网络传播本刊全文，本刊著作权使用费与本刊稿酬一并支付；本刊所刊登文章均无知识产权争议，不涉及泄露国家秘密、技术秘密或商业秘密。作者向本刊提交文章发表的行为即视为同意我编辑部上述声明，文责自负。, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=m3KKw/Pnh+Ao8okkUvfBMA==, magXml=+IHbzI6iMR9eFMotGgmznA==, pdfUrl=null, pdf=8wnmFzb2nJvaOhicgbizlQ==, pdfFileSize=2330374, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=BeWEDG03sz1M2W8ne7VSnw==, mapNumber=null, authorCompany=null, fund=null, authors=
隋江华（1976—），女，博士、教授。研究方向：船舶运动控制。
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隋江华（1976—），女，博士、教授。研究方向：船舶运动控制。
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