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

BU Ren-xiang; LIU Zheng-jiang; LI Tie-shan

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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.

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

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

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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

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.
- ship engineering,
- track control,
- nonlinear sliding mode,
- increment feedback

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References(10)

References

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