Global sliding mode based trajectory tracking control for underactuated surface vessels with uncertain dynamics
A global sliding mode control scheme is proposed to force an underactuated surface vessel to track a desired trajectory, in spite of the presence of uncertain parameters and unmodelled uncertainties including external disturbances and measurement noise, etc. The effect that the rudder generates a lateral acceleration on the sway direction is considered. In this case, the system is nonminimum phase. An output redefined point p , which is placed on the ship principal symmetry axis at a distance l from the ship center of mass, is introduced to transform the nonminimum phase into a stable internal dynamic. The controller is designed by using the global sliding mode control to ensure the existence of a sliding mode throughout an entire response. The stability analysis is taken based on Lyapunov theory. Some numerical simulations are provided to validate the effectiveness of the proposed controller.
underactuated surface vessels trajectory tracking uncertain parameters global sliding mode control robustness
MENG Wei GUO Chen LIU Yang ZHANG Shanshan
School of Information Science and Technology, Dalian Maritime University, Dalian 116026 School of Information Science and Technology, Dalian Maritime University, Dalian 116026 School of El
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4456-4461
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）