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http://dx.doi.org/10.5302/J.ICROS.2011.17.9.869

Design of Sliding Mode Controller for Ship Position Control  

Bui, Van Phuoc (Pukyong National University)
Kim, Young-Bok (Pukyong National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.9, 2011 , pp. 869-874 More about this Journal
Abstract
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.
Keywords
control allocation; trajectory tracking; sliding mode control; ship model;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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