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In the control of ships , it is important that the system not only be able to perform the desired task (tracking control ),but that it also be able tQ compensate for such factors as wind , waves , and currents (disturbance control ).Both types of variables must be factored into any control syste 皿 An automatic control system with decoupling control for berthing rnaneuvers was previously proposed ;however , the control system was not tested for its performance in compensating for distur− bances. In this study , we analytically show the fundamental characteristics of the automatic control system , and examine them by computer simulation 、 As an example , by selecting propel 玉er and bow and stern thrusters as manipulated variables and ship speed ,1ateral shift displa6ement and heading angle as

Reaction to Disturbance During the Berthing Maneuver of an Automatic Control System with Decoupling Control