Nonlinear sliding mode tracking control of underatuated surface vessels

作者：Meng Wei^*; Guo Chen; Sun Fuchun; Liu Yang

来源：Journal of Harbin Engineering University, 2012, 33(5): 585-589.

DOI：10.3969/j.issn.1006-7043.201109055

• Control laws
• Environmental disturbances
• First order
• Inherent characteristics
• Lateral motion
• Non-linear integral
• Nonlinear sliding mode
• Parameters uncertainties
• Parametric uncertainties
• Plane motions
• Second Order Sliding
• Sliding mode techniques
• Sliding modes
• Sliding surface
• Surface vessels
• Time-varying disturbance
• Tracking controls
• Tracking errors
• Trajectory tracking control
• Uncertain parameters
• Underactuated surface vessels

Considering the model parametric uncertainties and time-varying disturbances induced by waves, wind, and ocean-current in the trajectory tracking control of a 3 degree-of-freedom (3DOF) underactuated surface vessel, a novel nonlinear sliding mode control law was designed using sliding mode techniques, in view of the sliding mode's robustness in anti-system uncertainties and environmental disturbances. According to the inherent characteristics of underactuated surface vessels, there were no side thrusters in the sway direction, and in order to control the ship's 3DOF plane motion in surge, sway, and yaw directions, the control law was developed by introducing a first order sliding surface in terms of surge tracking errors and a second order sliding surface in terms of lateral motion tracking errors. Numerical simulation results show that the proposed controller is strongly robust regarding the uncertain parameters and disturbances, and can force the vessel to track a desired trajectory which is generated by a virtual ship.

• 出版日期2012
• 单位清华大学