In order to accurately control typical berthing steering,a dynamic output feedback controller was designed for the automatic berthing of underactuated surface ship with nonholonomic acceleration constraints.

Study on calculation means of vessel berthing simulationZHANG Zhe;

The berthing velocity, angle and maxi- mal displacement of wharf are monitored.

This paper describes the structural type and characteristics of double-pile floating energy dissipating installation,principle of energy absorption during vessel′s berthing,scope of adaptability and main points of design,which may serve as a reference for design of large-tonnage floating wharves.