DocumentCode
700716
Title
Nonlinear rudder-roll damping of non-minimum phase ships using sliding mode control
Author
Lauvdal, Trygve ; Fossen, Thor I.
Author_Institution
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
fYear
1997
fDate
1-7 July 1997
Firstpage
1689
Lastpage
1694
Abstract
A non-minimum phase nonlinear ship model from rudder angle to roll angle is used to design a stable controller for simultaneous roll damping and course keeping. The controller is stable in presence of 1st-order wave disturbances and modeling errors provided that the magnitude of the model errors and disturbances are known. Stability is proved using Lyapunov theory. The simulation results show excellent performance and robustness.
Keywords
Lyapunov methods; control system synthesis; damping; nonlinear control systems; ships; stability; variable structure systems; 1st-order wave disturbances; Lyapunov theory; course keeping; modeling errors; nonlinear rudder-roll damping; nonminimum phase nonlinear ship model; sliding mode control; stable controller design; Asymptotic stability; Damping; Marine vehicles; Mathematical model; Nonlinear dynamical systems; Stability analysis; Switches;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082346
Link To Document