This paper presents an assessment of the performance a Crew Transfer Vessel (CTV) in transfer mode to floating substation using P-plot chart and discusses on influence motion characteristics CTV her horizontal fender force. The results suggested that there is almost no shielding effect structure at slip limit substation's small motion. In addition, difference characteristic due berthing directi...

In this paper, consistently trained Artificial Neural Network controller for automatic ship berthing is discussed. Minimum time course changing manoeuvre is utilised to ensure such consistency and a new concept named ‘virtual window’ is introduced. Such consistent teaching data are then used to train two separate multi‐layered feed forward neural networks for com...

In the usual framework of control, a reference trajectory is needed as set point for feedback controller. This can be generated by solving optimization problem. problem continuous optimal control (OCP) that transcribed into finite-dimensional nonlinear (NLP) and solved SQP. For an underactuated conventional vessel, mathematical model very intricate, hence NLP itself. causes significant computat...