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Bu Ren-xiang, Liu Zheng-jiang, Hu Jiang-qiang. Berthing controller of underactuated ship with nonlinear sliding mode[J]. Journal of Traffic and Transportation Engineering, 2007, 7(4): 24-29.
Citation: Bu Ren-xiang, Liu Zheng-jiang, Hu Jiang-qiang. Berthing controller of underactuated ship with nonlinear sliding mode[J]. Journal of Traffic and Transportation Engineering, 2007, 7(4): 24-29.
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Berthing controller of underactuated ship with nonlinear sliding mode

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

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  • Author Bio:

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

  • Received Date: 2007-04-06
  • Publish Date: 2007-08-25
    Abstract
  • In order to accurately control typical berthing steering, a dynamic output feedback controller was designed for the automatic berthing of underactuated surface ship with nonholonomic acceleration constraints. The control problems of path planning and following were transformed into the static control problem of scalar zero-order-systems by means of iterative sliding mode control (ISMC), in which nonlinear sliding surfaces were recursively and iteratively designed in augmented state space. Integrating with increment feedback, the controller was proved to stabilize ship's motion in typical berthing steering without estimating systemic uncertainties and the disturbances resulted from current and wind. Numerical simulation result shows that the controller is strongly robust to the variation of the disturbances, and ship's planar trajectory is adjusted by using only one variable due to its simple design procedure.

     

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