DocumentCode :
3573023
Title :
Sliding mode based path following nonlinear control for underactuated surface vessels
Author :
Wei Meng ; Chen Guo
Author_Institution :
Sch. of Inf. Eng., Dalian Ocean Univ., Dalian, China
fYear :
2014
Firstpage :
3061
Lastpage :
3066
Abstract :
A sliding mode control law is presented for designing a path following controller that forces an underactuated surface vessel to follow a reference path. The reference path can be a prescribed path or one generated by a virtual vessel. The control law is developed by using Lyapunov direct method and sliding mode control. According to that the sway axis of the vessel is not directly actuated, and the damping matrixes are off-diagonal, two second-order sliding surfaces are introduced, the first surface in terms of path tracking position errors and the second one in terms of orientation errors. Numerical simulation results are provided to demonstrate the effectiveness of the proposed controller design and the accuracy of stability analysis.
Keywords :
Lyapunov methods; control system synthesis; damping; matrix algebra; nonlinear control systems; numerical analysis; position control; ships; stability; variable structure systems; Lyapunov direct method; controller design; damping matrixes; numerical simulation; path following nonlinear control; path tracking position errors; reference path; sliding mode control; stability analysis; underactuated surface vessels; Lyapunov methods; Marine vehicles; Sea surface; Sliding mode control; Stability analysis; Surges; Tracking; Nonlinear control; Path following; Sliding mode control; Underactuated surface vessels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
Type :
conf
DOI :
10.1109/WCICA.2014.7053217
Filename :
7053217
Link To Document :
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