Adaptive Robust Sliding Mode Control for Ship Straight-Line Tracking in Random Waves

doi:10.1007/s12204-013-1430-1

Journal of shanghai Jiaotong University (Science) ›› 2013, Vol. 18 ›› Issue (5): 549-553.doi: 10.1007/s12204-013-1430-1

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Adaptive Robust Sliding Mode Control for Ship Straight-Line Tracking in Random Waves

LIU Cheng1* (刘程), ZOU Zao-jian1,2 (邹早建), LI Tie-shan3 (李铁山)

(1. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China; 2. State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China; 3. School of Navigation, Dalian Maritime University, Dalian 116026, Liaoning, China)
(1. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China; 2. State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China; 3. School of Navigation, Dalian Maritime University, Dalian 116026, Liaoning, China)

Online:2013-10-31 Published:2013-12-05
Contact: LIU Cheng (刘程) E-mail:lassieliucheng@163.com

Abstract

Abstract: Since complex controllers do not suit for application, we design a simple controller with robustness in changeable sea state. The characteristics of ship motion are large inertia, strong nonlinearity and large time delay. This paper employs adaptive sliding mode technique. We focus on a class of underactuated ship systems with parametric uncertainties and wave effects. Random wave effects are seldom considered in former studies. Various simulations validate the adaptive characteristics and robustness of the proposed controller. The closed-loop system is stable and tracking error can be arbitrarily small by Lyapunov approach.

Key words: underactuated ship| straight-path| sliding mode| random wave

摘要： Since complex controllers do not suit for application, we design a simple controller with robustness in changeable sea state. The characteristics of ship motion are large inertia, strong nonlinearity and large time delay. This paper employs adaptive sliding mode technique. We focus on a class of underactuated ship systems with parametric uncertainties and wave effects. Random wave effects are seldom considered in former studies. Various simulations validate the adaptive characteristics and robustness of the proposed controller. The closed-loop system is stable and tracking error can be arbitrarily small by Lyapunov approach.

关键词: underactuated ship| straight-path| sliding mode| random wave

CLC Number:

TP 273

LIU Cheng1* (刘程), ZOU Zao-jian1,2 (邹早建), LI Tie-shan3 (李铁山). Adaptive Robust Sliding Mode Control for Ship Straight-Line Tracking in Random Waves[J]. Journal of shanghai Jiaotong University (Science), 2013, 18(5): 549-553.

References

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Adaptive Robust Sliding Mode Control for Ship Straight-Line Tracking in Random Waves

Adaptive Robust Sliding Mode Control for Ship Straight-Line Tracking in Random Waves

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