Title :
Dynamical Adaptive Sliding Mode Approach for Tracking Control of Ship Steering System
Author :
Cheng, Jin ; Yi, Jianqiang ; Zhao, Dongbin
Author_Institution :
Key Lab. of Complex Syst. & Intelligence Sci., China Acad. of Sci., Beijing
Abstract :
A dynamical adaptive sliding mode control (DASMC) algorithm is presented and applied to output tracking control of ship steering system, which is nonlinear with linearly parameterized uncertainties. The control design benefits from both the robustness of sliding mode control and adaptiveness of backstepping method. Simulation results show that the control algorithm has good robustness to uncertainties and undesirable disturbances, and good performance with substantially reduced chattering in the sliding mode
Keywords :
adaptive control; position control; ships; steering systems; variable structure systems; backstepping method; dynamical adaptive sliding mode approach; nonlinear system; output tracking control; ship steering system; Adaptive control; Adaptive systems; Control systems; Marine vehicles; Nonlinear control systems; Programmable control; Robust control; Sliding mode control; Steering systems; Uncertainty; adaptive backstepping; dynamical adaptive sliding mode; linearly parameterized uncertainties; ship steering system;
Conference_Titel :
Computational Engineering in Systems Applications, IMACS Multiconference on
Conference_Location :
Beijing
Print_ISBN :
7-302-13922-9
Electronic_ISBN :
7-900718-14-1
DOI :
10.1109/CESA.2006.4281744
