Journal of Navigation and Port Research (한국항해항만학회지)

Korean Institute of Navigation and Port Research (한국항해항만학회)
권호 표지
DOI QR코드

DOI QR Code

Design of a Sliding Mode Control-Based Trajectory Tracking Controller for Marine Vehicles

  • Xu, Zhi-Zun (School of Marine Technology Newcastle University) ;
  • Kim, Heon-Hui (Division of Marine Engineering, Mokpo Maritime University) ;
  • Park, Gyei-Kark (Division of International Maritime Transportation Science, Mokpo Maritime University) ;
  • Nam, Taek-Kun (School of Marine Technology Newcastle University)
  • Received : 2017.09.21
  • Accepted : 2018.01.08
  • Published : 2018.04.30
Download PDF
⟨ Previous Next ⟩

Abstract

A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.

Keywords

References

  1. Chae C. J.(2016), "A Study on Dynamic Positioning System IMO class upgrade requirements", Journal of Korean Navigation and Port Research, Vol. 39, No. 3, pp. 103-110.
  2. Fossen T. I. (1994), "Guidance and control of ocean vehicles", John Wiley & Sons Inc.
  3. G. N. Robert, R. Sutton, A. Zirilli and A. Tiano(2003), "Intelligent ship autopilots-A historical perspective", Mechatronics, Vol. 13, No. 10, pp. 1091-1103. https://doi.org/10.1016/S0957-4158(03)00044-8
  4. G. N. Roberts(2008), "Trends in marine control systems", Annual Reviews in Control, Vol. 3, No.2, pp. 263-269.
  5. Giorgio Bartolini, Elisabetta Punta and Tullio Zolezzi (2009), "Simplex sliding Mode Control of Multi-Input Systems with Chattering Reduction and Mono-Directional" Actuators, Vol. 47, No. 11, pp. 2433-2437.
  6. Hshem Ashrafiuon, Member, IEEE, Kenneth R. Muske, Member, IEEE, Lucas C. McNinch, Member IEEE, and Reza A. Soltan, Member, IEEE(2008), "Sliding-Mode tracking Control of surface Vessels", Transaction On Industrial Electronic, IEEE, Vol, 55, No. 11, pp. 556-561.
  7. Jun Wu, Hui Peng, Kohei Ohstu, Genshiro Kitagawa and Tohru Itoh(2012), "Ship's tracking control based on nonlinear time series model", Applied Ocean Research, Vol. 36, pp. 1-11. https://doi.org/10.1016/j.apor.2012.01.004
  8. J. Cheng, J. Yi and D. Zhao(2007), "Design of a sliding mode controller for trajectory tracking problem of marine vessels", Control Theory & Application, IET, Vol. 1, No. 1, pp. 233-237. https://doi.org/10.1049/iet-cta:20050357
  9. J. Koshkouei, K. J. Burnham and Y. Law(2007), "A comparative study between sliding mode and proportional integrative derivative controllers for ship roll stabilization", Control Theory & Application, IET. Vol. 1, No. 5, pp. 1266-1275. https://doi.org/10.1049/iet-cta:20060277
  10. Lee B. K. and Kim J. H.(2005), "A Proposal of an LOS Guidance System of a Ship for Path Following", Journal of the Korean Society of Marine Engineering, Vol. 11, No. 4, pp. 363-368.
  11. Lee Y. H. and So M. O.(2016), "Speed Control of Marine Gas Turbine Engine using Nonlinear PID Controller". Journal of Korean Navigation and Port Research, Vol. 39, No. 6, pp. 103-110.
  12. Nguyen P. H. and Jung Y. C.(2006), "Improved Adaptive Neural Network Autopilot for Track-keeping Control of Ships:Design and Simulation", Journal of Korean Navigation and Port Research, Vol. 30, No. 5, pp. 259-265. https://doi.org/10.5394/KINPR.2006.30.4.259
  13. S. K. Bhattacharyya and Deepak Kumar Gupta(2014), "Target Path Iteration method for trajectory control of ships", Applied Ocean Research, Vol. 48, pp. 55-65. https://doi.org/10.1016/j.apor.2014.07.012
  14. Tayfun Cimen and Stephen P. Banks(2004), "Nonlinear optimal tracking control with application to super-tankers for autopilot design", Automatia, Vol. 40, No. 11, pp. 429-443.
  15. Witold Gierusz, Nguyen Cong Vinh, Andrzej Rak (2007), "Maneuvering control and trajectory tracking of very large crude carrier", Ocean Engineering, Vol. 34, No. 7, pp. 932-945. https://doi.org/10.1016/j.oceaneng.2006.06.003