Journal of Dalian Maritime University >
2016 , Vol. 42 >Issue 2: 1 - 7
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2016.02.001
Robust adaptive sliding mode control of heave motion for surface effect ships
Received date: 2015-11-13
Revised date: 2015-12-28
Online published: 2016-01-05
Considering the heave motion control problem of surface effect ships with dynamic parameter uncertainties and time-variant wave disturbance, this paper designed a robust adaptive sliding mode control law by integrating the adaptive technique and sliding mode control method. An adaptive law was designed to estimate the unknown bounds of the uncertain terms including dynamic parameter uncertainties and time-variant wave disturbance by using the adaptive technique. Based on the estimates of uncertain term bounds, a robust adaptive sliding mode control law for heave motion of surface effect ships was proposed. The chattering originated from sliding mode control was eliminated by boundary layer.It is theoretically proved that the proposed control law can damp the magnitude of heave motion of surface effect ships and guarantee that all the signals of the heave motion closed-loop control system of surface effect ships are uniformly ultimately bounded. Simulations on a Norwegian Navy’s surface effect ship were carried out and the results illustrate the effectiveness of the proposed control law.
XU Da-yu , DU Jia-lu . Robust adaptive sliding mode control of heave motion for surface effect ships[J]. Journal of Dalian Maritime University, 2016 , 42(2) : 1 -7 . DOI: 10.16411/j.cnki.issn1006-7736.2016.02.001
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