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http://dx.doi.org/10.7837/kosomes.2018.24.7.953

Sliding Mode Control with Super-Twisting Algorithm for Surge Oscillation of Mooring Vessel System  

Lee, Sang-Do (Graduate School of Korea Maritime and Ocean University)
Lee, Bo-Kyeong (Korea e-Navi Information Technology Co. LTd.)
You, Sam-Sang (Division of Mechanical Engineering, Korea Maritime and Ocean University)
Publication Information
Journal of the Korean Society of Marine Environment & Safety / v.24, no.7, 2018 , pp. 953-959 More about this Journal
Abstract
This paper deals with controlling surge oscillations of a mooring vessel system under large external disturbances such as wind, waves and currents. A control synthesis based on Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA) has been applied to suppress nonlinear surge oscillations of a two-point mooring system. Despite the advantages of robustness against parameter uncertainties and disturbances for SMC, chattering is the main drawback for implementing sliding mode controllers. First-order SMC shows convergence within the desired level of accuracy, in which chattering is the main obstacle related to the destructive phenomenon. Alternatively, STA completely eliminates chattering phenomenon with high accuracy even for large disturbances. SMC based on STA is an effective tool for the motion control of a nonlinear mooring system because it avoids the chattering problems of a first-order sliding mode controller. In addition, the error trajectories of controlled mooring systems implemented by means of STA form in the bounded region. Finally, the control gain effect of STA can be observed in sliding surface and position trajectory errors.
Keywords
Mooring vessel system; Sliding Mode Control (SMC); Super-Twisting Algorithm (STA); Chattering; Robustness; Disturbances;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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