Dynamical Adaptive Sliding Mode Approach for Tracking Control of Ship Steering System

Author

Cheng, Jin ; Yi, Jianqiang ; Zhao, Dongbin

Author_Institution

Key Lab. of Complex Syst. & Intelligence Sci., China Acad. of Sci., Beijing

Volume

1

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

707

Lastpage

712

Abstract

A dynamical adaptive sliding mode control (DASMC) algorithm is presented and applied to output tracking control of ship steering system, which is nonlinear with linearly parameterized uncertainties. The control design benefits from both the robustness of sliding mode control and adaptiveness of backstepping method. Simulation results show that the control algorithm has good robustness to uncertainties and undesirable disturbances, and good performance with substantially reduced chattering in the sliding mode

Keywords

adaptive control; position control; ships; steering systems; variable structure systems; backstepping method; dynamical adaptive sliding mode approach; nonlinear system; output tracking control; ship steering system; Adaptive control; Adaptive systems; Control systems; Marine vehicles; Nonlinear control systems; Programmable control; Robust control; Sliding mode control; Steering systems; Uncertainty; adaptive backstepping; dynamical adaptive sliding mode; linearly parameterized uncertainties; ship steering system;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Engineering in Systems Applications, IMACS Multiconference on

Conference_Location

Beijing

Print_ISBN

7-302-13922-9

Electronic_ISBN

7-900718-14-1

Type

conf

DOI

10.1109/CESA.2006.4281744

Filename

4281744