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Adaptive robust sliding mode control for ship straight-line tracking in random waves
  • 期刊名称：Journal of Shanghai Jiaotong University (Science)
  • 时间：2013.10.1
  • 页码：549-553
  • 分类：TP273[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[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
  • 相关基金：the National Natural Science Foundation of China（Nos.51179019 and 51279106）; the Special Research Fund of Ministry of Education of China for the Doctoral Program（No.20110073110009）
  • 相关项目：限制水域船舶通航安全智能评估方法研究
作者： Cheng Liu|Zao-Jian Zou|李铁山|
中文摘要：

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 efects.Random wave efects 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.

英文摘要：

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 efects.Random wave efects 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.

同期刊论文项目
限制水域船舶通航安全智能评估方法研究
期刊论文 84 会议论文 41
波浪中的船舶操纵与控制研究
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