Sliding-mode control of path following for underactuated ships based on high gain observer

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• 作者：Zi-he Qin 秦梓荷 ; Zhuang Lin 林壮 ; Han-bing Sun 孙寒冰…
• 关键词：Key wordsunderactuated ship ; path following ; sliding ; mode control ; line ; of ; sight guidance ; high gain observer
• 刊名：Journal of Central South University
• 出版年：2016
• 出版时间：December 2016
• 年：2016
• 卷：23
• 期：12
• 页码：3356-3364
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Engineering, general; Metallic Materials;
• 出版者：Central South University
• ISSN：2227-5223
• 卷排序：23

文摘

A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters. In the controller design, a high-gain observer is used to estimate velocities, thus only position and yaw angle measurements are required. The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight (LOS) guidance law. A sliding-mode controller is designed to eliminate the yaw angle error, and provide the control system robustness. The control law is proved semi-globally exponentially stable (SGES) by applying Lyapunov stability theory, and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.