Title :
Integral nested sliding mode control for ship turning
Author :
Hu, Zhoghui ; Peng, Xiuyan
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
An integral nested sliding mode control (INSMC) is proposed for the ship turning control problem by employing integral sliding mode (ISM) and nested sliding mode (NSM) concepts. This controller has the robustness of NSM against matched and unmatched perturbations, and the capability of ISM to reduce the sliding functions gains. The simulation illustrates the effectiveness of the proposed control scheme.
Keywords :
perturbation techniques; robust control; ships; variable structure systems; INSMC; ISM control; NSM control; NSM robustness; integral nested sliding mode control; matched perturbation; ship turning control problem; sliding function gain; unmatched perturbation; Manipulators; Marine vehicles; Turning; Integral sliding mode; Nested sliding mode; Ship turning;
Conference_Titel :
Communication Software and Networks (ICCSN), 2011 IEEE 3rd International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-61284-485-5
DOI :
10.1109/ICCSN.2011.6014383
