, Volume 10, Issue 1, pp 76-81

Simulation and design of fuzzy sliding-mode controller for ship heading-tracking

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Abstract

In considering the characteristic of a rudder, the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties. In order to solve the uncertainties in the ship heading control, specifically the controller singular and paramount re-estimation problem, a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology, the approximation property of fuzzy logic systems, and a multiple sliding-mode control algorithm. Based on the Lyapunov function, it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded, with tracking errors converging to zero. Simulation results show that the demonstrated controller design can track a desired course fast and accurately. It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.

Foundation item: Supported by the National Natural Science Foundation of China under Grant No.60974136.
Lei Yuan was born in 1985. He is a master at the College of Electrical and Information Engineering, Naval University of Engineering, majoring in the ship movement nonlinear control, fuzzy control, and sliding mode control.
Hansong Wu was born in 1954. He is a professor at the College of Electrical and Information Engineering, Naval University of Engineering. His current research interests include ship movement control and simulation, sliding mode control, etc.