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Adaptive robust sliding mode control for ship straight-line tracking in random waves |
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| Authors: | Cheng Liu Zao-jian Zou Tie-shan Li |
| Institution: | 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 |
| 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. |
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