Automatic Berthing Control for Unmanned Surface Vessel Based on Nonlinear Extended State Observer

With the continuous development of intelligent ships, autonomous berthing of ships has become increasingly important. Aiming at the uncertainty of external environmental disturbances suffered by nonlinear ships during autonomous berthing, this paper first uses the third-order Bezier curve to design the ship berthing trajectory. Secondly, combining the Backstepping nonlinear control theory and the nonlinear extended state observer, a ship automatic berthing output controller is designed, which enables the ship to complete the dynamic berthing task in the presence of unknown disturbances and realize the integrated control of the ship's position and heading. Finally, the control response of the system is simulated and analyzed in the presence of unknown disturbances, and the results verify the effectiveness of the designed controller in ship berthing operations.