Adaptive Nonlinear Backstepping Sliding Mode Control for Ship Course Tracking
An adaptive backstepping sliding mode control, which combines both the merit of adaptive backstepping and sliding mode control, is proposed to control ship course track which takes into account rudder characteristics and parameter uncertainty. This algorithm incorporates the technique of tuning function into Backstepping design and doesnt require a prior knowledge about control directions. Based on the Lyapunov function , it is proved in theory that the controller makes all signals in the nonlinear system of unmacthed uncertain ship motion uniformly bounded , and the desired reference course is asymptotically tracked by the ships actual heading . With the adaptive backstepping sliding mode control the ship course track possesses the advantages of good transient performance and robustness to uncertainties for the tracking of periodic reference trajectories. The e甧ctiveness of the proposed control scheme is veri痚d by the simulated results.
Yu Liu Chen Guo Jin Lv
School of Automation and Electric Engineering Dalian Maritime University Dalian, China, 116026
国际会议
南宁
英文
2007-07-20（万方平台首次上网日期，不代表论文的发表时间）