Stable sliding mode control based on PSO for underactuated surface vessels

Based on robustness and uncertainty of two-DOF motion control, a stable sliding mode control algorithm, which can realize motion control for non-linear underactuated surface vessels, is proposed. In this algorithm, each variable which is gotten from every subsystem´s state variables combines an interim variable. Then one sliding mode function is constructed according to the interim variable. By using the sliding mode control method, the total control law can be obtained, which guarantees that the equilibrium point is reachable in finite time. Meanwhile Particle Swarm Optimization algorithm proposed by the ship motion parameters, Then the system´s state variables converge to equilibrium field. The simulation results demonstrate effectiveness of the proposed control algorithm.