A Dynamic Model and a Robust Controller for a Fully Actuated Marine Surface Vessel

  • Nassim Khaled
  • Nabil G. Chalhoub
Part of the Lecture Notes in Applied and Computational Mechanics book series (LNACM, volume 44)


A nonlinear six degree-of-freedom dynamic model has been developed for a marine surface vessel. The formulation closely follows the existing literature on ship modeling. It accounts for the effects of inertial forces, wave excitations, retardation forces, nonlinear restoring forces, wind and current loads. The model is used herein to predict the response of a ship in a turning-circle maneuver. Furthermore, a nonlinear robust controller has been designed based on a reduced-order version of the ship model, which only takes into consideration the surge, sway and yaw motions. The controller is formulated by implementing the sliding mode methodology. It considers the ship to be fully actuated. The simulation results, generated based on the reduced-order model of the ship, illustrate the robust performance and the good tracking characteristic of the controller in the presence of significant modeling uncertainties and environmental disturbances.


Robust Controller Ship Motion Retardation Force Propeller Thrust Ship Maneuvering 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Nassim Khaled
    • 1
  • Nabil G. Chalhoub
    • 1
  1. 1.Mechanical Engineering DepartmentWayne State UniversityDetroitUSA

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