Way Point Tracking of a Container Ship by Adaptive Stochastic Sliding Mode Control and Recursive Filters

M. Asadi ； H. Gholizade Narm

《Researches and Applications in Mechanical Engineering》 2卷3期 (2013/09) Pp. 67-73

並列摘要

In this paper, way-point tracking control of a container ship based on LOS method using adaptive stochastic sliding mode controlhas beeninvestigated. Effective control of ships in a designed trajectory is always an important task for ship maneuvering. The design is based on a low and high frequency model of the vessel motion adequate to ship steering. The low frequency model describes the vessel response to rudder control and slowly varying environmental forces. The high frequency model represents the wave induced oscillatory part of the yaw motion. For suppression of high frequency wave disturbances, the nonlinear recursive filter is considered. The uncertainty of model parameters in the presence of disturbances such as waves, wind and currents, dictates the application of techniques in which the nonlinear equations of ship's motion and the presence of unknown parametershave been taken into consideration. In this sense, the adaptive stochastic sliding modedesign is used for solving this problem. The simulation results show the suitability of this technique to compensate the time-varying disturbances effects in waypoint tracking control.

並列關鍵字

Adaptive Stochastic Sliding Mode ； Recursive Filters ； Way-Point Tracking ； LOS Guidance