Dynamic sliding mode control of MIMO uncertainty system and application in rudder-fin

In order to get better stabilized effect while keeping course, the ship rudder/fin joint nonlinear system controller based on dynamic sliding mode is designed. Aiming at a class of multiple-input multiple-output nonlinear system such as rudder/fin joint system, the control law is designed based on dynamic sliding mode method. The mathematical model of rudder/fin joint nonlinear system with four degrees of freedom is established based on dynamics theorem and separated modeling theory. Simulation research is carried out under disturbed condition. Simulation results show the designed control algorithm can weaken chattering greatly and improve the robustness. The average rolling angle is within ±2° while keeping the course angle and a good stabilized effect is realized.