Improved reaching law sliding mode trajectory tracking control for intelligent ships&nbsp;

LI Haoyang, ZHANG Qiang, ZHAO Enrui, HU Yancai, ZHANG Yan

doi:10.16411/j.cnki.issn1006-7736.2024.02.005

Journal of Dalian Maritime University >

2024 , Vol. 50 >Issue 2: 41 - 52

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.005

Improved reaching law sliding mode trajectory tracking control for intelligent ships

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(School of Navigation and Shipping, Shandong Jiaotong University, Weihai 264200, China)

Online published: 2024-01-21

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Abstract

Aiming at the problem of intelligent ship trajectory tracking control under network spoofing attacks, an improved reaching law sliding mode trajectory tracking control scheme with observer is proposed. Using Bernoulli distribution to generate random binary numbers to simulate network spoofing attacks. By designing observers to observe the impact of attacks and feedback compensation to the controller to resist the damage caused by attacks on the system. Design adaptive laws to cope with the impact of environmental disturbances, while further enhancing system robustness through coordination with the observer. Design an improved sliding mode reaching law with fast compensation for large errors and smooth compensation for small errors, which reduces the chattering problem of traditional sliding mode control and improves the control efficiency of the controller. Finally, the overall stability of the system was verified using Lyapunov stability theory, and comparative simulation experiments were conducted using Matlab. The experimental results show that the control scheme can respond quickly to the impact of attacks and provide good compensation, and the trajectory tracking error can quickly converge to a very small bounded interval near zero, achieving ship trajectory tracking in a network attack environment. This plan can provide certain reference value for research on safe navigation of ships and military confrontation of maritime equipment.

Key words： trajectory tracking; deceptive attacks; observer; reaching law sliding mode; adaptive law

Cite this article

LI Haoyang, ZHANG Qiang, ZHAO Enrui, HU Yancai, ZHANG Yan . Improved reaching law sliding mode trajectory tracking control for intelligent ships [J]. Journal of Dalian Maritime University, 2024 , 50(2) : 41 -52 . DOI: 10.16411/j.cnki.issn1006-7736.2024.02.005

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