This paper addresses the berthing control problem for automatic ships by using a virtual guide system based on heuristic dynamic programming (HDP) method. Firstly, by introducing an automatic virtual guide system, the berthing control problem can be transformed into a tracking control problem, and then can be further transformed into an optimal regulation problem. Secondly, the HDP method is used to solve the optimal regulation control problem of the marine surface ship with unknown ship model. Then, it is proven that the tracking error, the adaptation laws and the control inputs are uniformly bounded on the basis of the Lyapunov theory. Finally, simulations are carried out on an automatic model ship and the HDP method is compared with the backstepping control to verify the effectiveness of the developed control scheme.

本文通过基于启发式动态规划（HDP）方法的虚拟导引系统解决了自动船的停泊控制问题。首先，通过引入自动虚拟向导系统，可以将停泊控制问题转化为跟踪控制问题，然后进一步转化为最优调节问题。其次，采用HDP方法解决了未知船舶模型的水面舰艇的最优调节控制问题。然后，证明了在李雅普诺夫理论的基础上，跟踪误差，自适应律和控制输入是均匀有界的。最后，在自动模型船上进行了仿真，并将HDP方法与反推控制进行了比较，以验证所开发控制方案的有效性。