Adaptive Backstepping Sliding Mode Control for Straight Line Track of Unmanned Transport Ship

doi:10.16182/j.issn1004731x.joss.201811047

Journal of System Simulation ›› 2018, Vol. 30 ›› Issue (11): 4448-4454.doi: 10.16182/j.issn1004731x.joss.201811047

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Adaptive Backstepping Sliding Mode Control for Straight Line Track of Unmanned Transport Ship

Li Mingcong, Guo Chen, Yuan Yi

1. School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China

Received:2018-05-18 Revised:2018-06-29 Published:2019-01-04
About author:Li Mingcong(1991-), male, Heze, Ph.D candidates. research area: Ship course control and path following.
Supported by:
The National Natural Science Fund (51879027, 51579024, 61374114, 51809028)

Abstract

Abstract: With the development of unmanned ship technology, the intelligent control of ships is gradually used on large unmanned transport ships. In the course of navigation, ships are often disturbed by various nonlinear factors. Based on Norbbin nonlinear ship motion model, and adopting Lyapunov stability theorem to guarantee the stability of the closed-loop control system, a new sliding mode control method is proposed. Combined with backstepping, a backstepping sliding mode control method is designed to control the line track of ship on condition that the bound of disturbance is known. If the bound of disturbance is unknown, an adaptive backstepping sliding mode control method is designed. Simulation results with model of intelligent bulk carrier called Idolphin by Matlab demonstrate that this method is more stable and faster than PID controller.

Key words: unmanned transport ship, nonlinear factors, adaptive backstepping sliding mode, straight line track

CLC Number:

U661.33+4

Li Mingcong, Guo Chen, Yuan Yi. Adaptive Backstepping Sliding Mode Control for Straight Line Track of Unmanned Transport Ship[J]. Journal of System Simulation, 2018, 30(11): 4448-4454.

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Adaptive Backstepping Sliding Mode Control for Straight Line Track of Unmanned Transport Ship

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