Robust sliding mode control for a class of uncertain nonlinear singularly perturbed systems

This paper is concerned with the problem of robust sliding mode control for a strongly nonlinear 3-DOF ship motion model,which has three time scales and can be cast in a singularly perturbed form. Based on a smooth version of sliding mode control,a new approach of the robust controller design for the system is proposed,which handles the uncertainties. The capabilities of the proposed controller is verified by the simulation results of the system of lift feedback fin stabilizer.