Controlling the roll motion involves several problems including incomplete measurements, external disturbances, and the model uncertainties. In this paper, the perturbed model for the roll-fin dynamics is extracted by considering the problems influencing the fin stabilizer system during ship sailing. The sliding mode control provides robust performance for the mentioned factors. Therefore, a sliding mode controller is designed based on the information about the upper bound of perturbations and wave excitation force. Inasmuch as the uncertainty bound is not usually known, a robust adaptive sliding mode controller is proposed. Although it has been proven that the proposed method is robust, the chattering phenomenon is accounted as a drawback of the sliding mode control. In order to overcome the chattering phenomenon, a second-order sliding mode is replaced by the first-order one to create an adaptive second-order sliding mode control. The simulation results show that the control strategy is effective to decrease the roll motion and robust to overcome the uncertainties and random waves.
Robust adaptive first–second-order sliding mode control to stabilize the uncertain fin-roll dynamic
Ocean Engineering ; 69 ; 18-23
2013
6 Seiten, 15 Quellen
Article (Journal)
English
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