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Sliding-mode control of path following for underactuated ships based on high gain observer
Authors:Qin  Zi-he  Lin  Zhuang  Sun  Han-bing  Yang  Dong-mei
Affiliation:1.College of Shipbuilding Engineering, Harbin Engineering University, Harbin, 150001, China
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Abstract:A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.
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