DOI QR코드

DOI QR Code

선박위치제어를 위한 슬라이딩모드 제어기 설계

Design of Sliding Mode Controller for Ship Position Control

  • ;
  • 김영복 (부경대학교 공과대학 기계시스템공학과)
  • 투고 : 2011.04.18
  • 심사 : 2011.07.20
  • 발행 : 2011.09.01

초록

This paper addresses the trajectory tracking problem for ship berthing by using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and robust performance with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

키워드

참고문헌

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피인용 문헌

  1. Field Experiments for Dynamic Characteristics and Motion Control of a Manta-type Autonomous Underwater Vehicle vol.19, pp.9, 2013, https://doi.org/10.5302/J.ICROS.2013.13.9020
  2. Performance Condition vol.19, pp.9, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1895
  3. A Study on Position Mooring System Design for the Vessel Moored by Mooring Lines vol.20, pp.6, 2015, https://doi.org/10.1109/TMECH.2015.2407612
  4. Vessel motion control using rope tension control strategy vol.14, pp.4, 2016, https://doi.org/10.1007/s12555-015-0046-7