Path control of a surface ship in restricted waters using sliding mode

In this paper, the path control problem is addressed for a ship steering in restricted waters using sliding mode technique. Ship dynamic equations and numerical computation of the bank disturbance forces are briefly introduced. Ship path control systems are revealed, which easily lead to a non-minimum phase system. Therefore, the traditional input-output linearization strategy in geometric control theory is modified to transform the controller design of a fourth-order nonlinear system to that of a second-order linear system. A continuous sliding mode controller is designed to assure the system robustness and better performance. Simulation and experimental studies validate the controller design. The simulation results demonstrate importance to the realistic steering of ships, navigation study and intelligent controller design