Original scientific paper

https://doi.org/10.21278/TOF.43204

Ship Course Keeping Using Different Sliding Mode Controllers

Zhiquan Liu orcid.org/0000-0002-8031-8793 ; Key Laboratory of Marine Technology and Control Engineering Ministry of Communications, Shanghai Maritime University, Shanghai, China

Abstract

This study addresses three sliding mode heading controllers for dealing with uncertain wave disturbances. A nonlinear steering model is derived, and the feedback linearization method is chosen to simplify the nonlinear system in this study. The adaptive method and disturbance observer technique are proposed for course keeping and ensuring robust performance of the time varying wave moment and actuator dynamics. Finally, the simulation results on a navy ship illustrate the effectiveness of the presented control algorithms for course keeping.

Keywords

sliding mode control; course keeping; adaptive control: nonlinear disturbance observer

Hrčak ID:

223165

URI

https://hrcak.srce.hr/223165

Publication date:

22.7.2019.

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