Title :
Path following and stabilization of underactuated surface ships based on hierarchical sliding mode
Author :
Liu Cheng ; Zou Zaojian ; Wang Xuegang
Author_Institution :
Sch. of Naval Archit., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
A robust control algorithm for path following and stabilization of an underactuated surface vessel is proposed in this paper. Since the sway motion of the vessel is not directly actuated, the hierarchical sliding mode is employed. Various simulations were carried out to validate the effectiveness of the proposed controller. The stability of closed-loop system is proved by Lyapunov stability theorem.
Keywords :
Lyapunov methods; closed loop systems; position control; robust control; ships; variable structure systems; Lyapunov stability theorem; closed-loop system stability; hierarchical sliding mode; path following; robust control algorithm; stabilization; underactuated surface ships; underactuated surface vessel; Force; Lyapunov methods; Marine vehicles; Sea surface; Stability analysis; Surges; Trajectory; hierarchical sliding mode; path following; stabilization; underactuated surface vessel;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
