The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.


    Access

    Download


    Export, share and cite



    Title :

    Ship Trajectory Tracking Control System Design Based on Sliding Mode Control Algorithm


    Contributors:
    Liu Yong (author) / Bu Renxiang (author) / Gao Xiaori (author)


    Publication date :

    2018




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Ship Trajectory Tracking Control System Design Based on Sliding Mode Control Algorithm

    Liu, Yong / Bu, Renxiang / Gao, Xiaori | Online Contents | 2018


    Multi-target sliding mode trajectory tracking control algorithm based on BP neural network

    DENG LONGZE / XIONG SHUANG / CHEN BO et al. | European Patent Office | 2023

    Free access

    Trajectory Tracking Control Design of Unmanned Vehicle Based on Adaptive Sliding Mode

    Zhang, Jinlong / Ramirez-Mendoza, Ricardo A. / Wang, Jianhong et al. | IEEE | 2023


    Trajectory Tracking Control System for Ship

    Pomirski, J. / Morawski, L. / Rak, A. et al. | British Library Conference Proceedings | 2005