Ship course nonlinear sliding mode control 
based on an integral Backstepping

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Journal of Dalian Maritime University ›› 2013, Vol. 39 ›› Issue (3) : 5-8.

Original Paper

Ship course nonlinear sliding mode control  based on an integral Backstepping

WANG Ren-qiang¹，ZHAO Yue-lin²

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Abstract

A ship course nonlinear sliding mode controller based on the integral Backstepping is designed, and fast and accurate tracking control for ship course is achieved when changing course significantly. Bech ship maneuvering mathematical model is used to accurately describe ship maneuvering performance. On the basis of this, the inversion method is used to design ship course change control algorithm, and integral control link is introduced to eliminate modeling uncertainties and external disturbances such as wind, wave and flow. The control system is proved to be asymptotically stable by using Lyapunov stability theorem. It is known that the proposed controller whose rudder angle is reasonable and course is not sensitive has superior performance and strong robustness on the real ship simulation comparison.

Key words

ship course / nonlinear sliding mode control / integral Backstepping

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WANG Ren-qiang，ZHAO Yue-lin. Ship course nonlinear sliding mode control  based on an integral Backstepping[J]. Journal of Dalian Maritime University. 2013, 39(3): 5-8

References

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