Real-time control and hardware-in-the-loop simulation of surface vessels for multitask missions at seas

This paper presents an experimental approach to develop a real-time control system and hardware-in-the- loop simulation of surface vessels for multitask missions at seas. A multitask mission control system has many functions as an autopilot, rudder-roll damping, speed control, dynamic positioning, automatic mooring and anchoring, berthing and unberthing. A model-scaled container vessel is used for this work. Model-scaled experiments are conducted using a model test basin in order to verify feasibility of the automatic multitask mission control system. The paper first summarises control algorithms, then describes the experimental facility and development of real-time control programs.