With the development of LNG (liquefied natural gas) fuel powered vessels, the disadvantages of traditional fuel bunkering methods are prominent. Countries all over the world have launched the research on LNG overwater bunkering technology. LNG overwater bunkering refers to the fuel bunkering operation of LNG fuel powered vessels through LNG bunker vessels at designated anchorages or specific waters along the coast and inland rivers. Compared with the traditional LNG tanker bunkering or shore station bunkering, its operation mode is more convenient, doesn’t occupy wharf resources and has higher bunkering efficiency. However, LNG has special dangers such as low temperature, flammability and explosion. In case of fuel leakage accident during operation, fire or explosion may occur, and the consequences will be unimaginable. Therefore, this paper systematically studies the leakage risk in the process of LNG overwater bunkering operation, and puts forward safety guarantee suggestions to ensure the safety of the operation process.
This paper presents an adaptive output feedback control scheme for underactuated surface vessels’ path following control problem. For the guidance part, the LVS (Logical Virtual Ship) algorithm is employed to generate the reference path. In order to reconstruct the speed-state, a concise coordinate transformation is introduced to make the high-gain observer suitable for the ship model structure. The uncertain items of the ship model are dealt with RBF-NN, which further improves the estimation effect of the observer. On the basis of the backstepping method, the DSC technique is introduced to avoid the derivation of the virtual control law. Simulation experiments are carried out in MATLAB environment to verify the effectiveness of the proposed scheme. The results show that compared with state feedback scheme, the control scheme proposed in this paper has the advantage of not relying on speed information on the basis of achieving high-precision tracking of the reference path. It can serve as a redundant solution in the case of sensor failure. Meanwhile it can save communication resources from the sensor to the controller, which is of great significance to ensure navigation safety and improve navigation efficiency.
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