Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Design of Sliding Mode Controller for Ship Position Control

선박위치제어를 위한 슬라이딩모드 제어기 설계

  • ;
  • 김영복 (부경대학교 공과대학 기계시스템공학과)
  • Received : 2011.04.18
  • Accepted : 2011.07.20
  • Published : 2011.09.01
Download PDF
⟨ Previous Next ⟩

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

References

  1. T. Holzhuter, "LQG approach for the high precision track control of ships," Proc. of IEE Control Theory Applications, vol. 144, no. 2, pp. 121-127, 1997. https://doi.org/10.1049/ip-cta:19971032
  2. K. T. Nomoto, K. H. Taguchi, and S. Hirano, "On the steering qualities of ships," Technical report, Int. Shipbuilding Progress, pp. 3554-370, 1957.
  3. K. H. Im, D. Chwa, and J. Y. Choi, "Multi input multi output nonlinear autopilot design for ship to ship missiles," International Journal of Control, Automation, and System, vol. 4, no. 2, pp. 255-270, 2006.
  4. C. Jammazi, "Backstepping and partial asymptotic stabilization: application to partial attitude control," International Journal of Control, Automation, and System, vol. 6, no. 6, pp. 859-872, 2008.
  5. T. I. Fossen and S. P. Berge, "Nonlinear vectorial backstepping design for global exponential tracking of marine vessels in the presence of actuator dynamics," Proc. of 36th Conference on Decision and Control, pp. 4237-4242, 1997.
  6. R. C. Zhang, Z. Sun, F. Sun, and H. Xu, "Path control of a surface ship in restricted waters using sliding mode," Proc. of 37th IEEE Conference on Decision and Control, pp. 4237-4244, 1998. https://doi.org/10.1109/CDC.1998.758188
  7. T. I. Fossen, Marine Control System Guidance, Navigation, Rigs and Underwater Vehicle, Trondheim, Norway, Norwegian University of Science and Technology.
  8. J. P. Strand, "Nonlinear position control system design for marine vessels," Ph.D. Thesis, Dept of Engineering Cybernetics, Norwegian University of Science and Technology, 1999.

Cited by

  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