Title :
Nonlinear rudder-roll damping of non-minimum phase ships using sliding mode control
Author :
Lauvdal, Trygve ; Fossen, Thor I.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
A non-minimum phase nonlinear ship model from rudder angle to roll angle is used to design a stable controller for simultaneous roll damping and course keeping. The controller is stable in presence of 1st-order wave disturbances and modeling errors provided that the magnitude of the model errors and disturbances are known. Stability is proved using Lyapunov theory. The simulation results show excellent performance and robustness.
Keywords :
Lyapunov methods; control system synthesis; damping; nonlinear control systems; ships; stability; variable structure systems; 1st-order wave disturbances; Lyapunov theory; course keeping; modeling errors; nonlinear rudder-roll damping; nonminimum phase nonlinear ship model; sliding mode control; stable controller design; Asymptotic stability; Damping; Marine vehicles; Mathematical model; Nonlinear dynamical systems; Stability analysis; Switches;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
