Paper Title
Investigation of Propeller Control Method Focusing on Reverse Force Input for Collision-Free Arrival Motion of Ship

In this paper, a novel controller design focusing on reverse input using propeller thruster such as airplane taxiing and ship for collision-free arrival motion was proposed and evaluated in mock-up model. The operation of docking at a port has not yet been automated and requiresthe special skill of craftsmen. In our study, to aim at automating accurate docking operations in ship control, we used an airplane-type model with a propeller, which is relatively easy to test, rather than a test environment using water, where the effects appear three-dimensionally, and the reaching motion characteristics on the ground were investigated. In this process, we focused on the reverse motion often employed when the craftsman controls the ship. We developed two types model devices of ground taxiing airplane and ship, and perform the reaching movement experiment by normal P, PD control and human’s visual feedback control also performed. As a result, in order to rapid approach without overshoot, the applied thrust for a constant time period gave relatively good results, but it was necessary to search for parameters. By comparing withhuman’s visual feedback control using a reverse force input, it also relatively good result, and by introducing the human reverse force input way to the thrust for a constant time period method, it could realize rapid and stable controlling. As a basic study, we developed a simple airplane model and U-shaped guided model ship to realize a rapid, non-overshoot and stable reaching movement. The difficulty of the reaching move-ment would be mainly occurred by propeller / screw type thruster control difficulty, however, by usingreverse force input