Volume 6 Issue 4
. 
Turn off MathJax
Article Contents
Article Navigation >  Journal of Traffic and Transportation Engineering  > 2006  >  6(4): 75-79
BU Ren-xiang, LIU Zheng-jiang, LI Tie-shan. Increment feedback control algorithm of ship track based on nonlinear sliding mode[J]. Journal of Traffic and Transportation Engineering, 2006, 6(4): 75-79.
Citation: BU Ren-xiang, LIU Zheng-jiang, LI Tie-shan. Increment feedback control algorithm of ship track based on nonlinear sliding mode[J]. Journal of Traffic and Transportation Engineering, 2006, 6(4): 75-79.
shu

Increment feedback control algorithm of ship track based on nonlinear sliding mode

  • School of Navigation, Dalian Maritime University, Dalian 116026, Liaoning, China

More Information
  • Author Bio:

    Bu Ren-xiang(1973-), male, doctoral student, lecturer, 86-411-84729527, burenxiang@tom.com

    Liu Zheng-jiang(1959-), male, professor, 86-411-84729777, liuzjj@online.ln.cn

  • Received Date: 2006-05-18
  • Publish Date: 2006-12-25
    Abstract
  • The straight-path tracking problem of underactuated ship with state constraints and actuator saturation was analysed, a nonlinear control algorithm was developed by integrating increment feedback and dynamic nonlinear sliding mode based on an iterative designing procedure, so that the problems of static error caused by constant disturbances and chattering in variable structure control were circumvented, the heading and the cross-track error of ship were stabilized without necessary estimating the parametric uncertainties and disturbances induced by wind and current.Numerical simulation result of training ship "Yulong" shows that the controller is robust to systemic variation or outside disturbances and easy to adjust due to the clearness of parametric functions.

     

    • FullText(HTML)
  • loading
    • References(10)
  • [1]
    Fossen T I. Marine Control Systems-Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles[M]. Trondheim: Norwegian University of Science and Technology, 2002.
    [2]
    Pettersen K Y, Lefeber E. Way-point tracking control of ships[A]// Proceedings of the 40th IEEE Conference on Decision and Control[C]. Orlando: IEEE CNF, 2001.
    [3]
    Do K D, Pan J. Global waypoint tracking control of underactuated ships under relaxed assumptions[A]// Proceedings of the 42nd IEEE Conference on Decision and Control[C]. Maui: IEEE CNF, 2003.
    [4]
    Michele A, Giuseppe C, Giovanni I, et al. A planar path following controller for underactuated marine vehicles[A]// The 9th IEEE Conference on Control and Automation[C]. Dubrovnik: IEEE CNF, 2001.
    [5]
    Han Bing, Zhao Guo-liang. Path tracking control of underactuated surface vessels based on the differential flatness[J]. Journal of Harbin Engineering University, 2004, 25(6): 709-713.
    [6]
    李铁山, 杨盐生, 郑云峰. 不完全驱动船舶非线性控制[J]. 交通运输工程学报, 2003, 3(4): 39-43. doi: 10.3321/j.issn:1671-1637.2003.04.010

    Li Tie-shan, Yang Yan-sheng, Zheng Yun-feng. Nonlinear control of underactuated ships[J]. Journal of Traffic and Transportation Engineering, 2003, 3(4): 39-43. (in Chinese) doi: 10.3321/j.issn:1671-1637.2003.04.010
    [7]
    李铁山, 杨盐生, 郑云峰. 不完全驱动船舶航迹控制输入输出线性化设计[J]. 系统工程与电子技术, 2004, 26(7): 945-948. doi: 10.3321/j.issn:1001-506X.2004.07.025

    Li Tie-shan, Yang Yan-sheng, Zheng Yun-feng. Input-output linearization designs for straight-line tracking control of underactuated ships[J]. Systems Engineering and Electronics, 2004, 26(7): 945-948. (in Chinese) doi: 10.3321/j.issn:1001-506X.2004.07.025
    [8]
    李铁山, 杨盐生. 基于耗散理论的不完全驱动船舶直线航迹控制设计[J]. 应用科学学报, 2005, 23(2): 204-208. doi: 10.3969/j.issn.0255-8297.2005.02.021

    Li Tie-shan, Yang Yan-sheng. A robust design based on the dissipation theory for the linear course trajectory control of underactuated ships[J]. Journal of Applied Sciences, 2005, 23(2): 204-208. (in Chinese) doi: 10.3969/j.issn.0255-8297.2005.02.021
    [9]
    Michael G P, Ailan C C, Cao Yu-song. An assessment of fuzzy logic vessel path control[J]. IEEE Journal of Oceanic Engineering, 1995, 20(4): 276-284. doi: 10.1109/48.468247
    [10]
    Zhang Yao, Grant E H, Pratyush S. A neural approach to ship track-keeping control[J]. IEEE Journal of Oceanic Engineering, 1996, 21(4): 513-527.
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views (265) PDF downloads(208) Cited by()
    Proportional views
    Related

    Copyright《Journal of Traffic and Transportation Engineering》编辑部陕ICP备05001904号-1

    Address ：Editorial Department of Journal of Traffic and Transportation Engineering, Chang 'an University, Middle Section of South Second Ring Road, Xi 'an, Shaanxi（710064） Tel：029-82334388 Email：jygc@chd.edu.cn

    All visit:Today's visit:

    Supported by: Beijing Renhe Information Technology Co. Ltd    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return