Path following of under-actuated ships based on adaptive global fast terminal sliding mode control

Mingxin Chen; Renxiang Bu; Yuzhang Jiao

doi:10.1117/12.2679527

18 July 2023 Path following of under-actuated ships based on adaptive global fast terminal sliding mode control

Mingxin Chen, Renxiang Bu, Yuzhang Jiao

Proceedings Volume 12722, Third International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023); 127222X (2023) https://doi.org/10.1117/12.2679527
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023), 2023, Hangzhou, China

Abstract

In order to solve the problems of nonlinear unknown term and external environmental disturbances of the under-actuated ship motion system, an indirect control method based on adaptive global fast terminal sliding mode control (GFTSMC) algorithm is devised for path following of under-actuated ships. The path following controller consists of course guidance law and heading controller. An iterative sliding mode scheme based on nonlinear hyperbolic tangent function is introduced to design the course guidance law in order to restrict the maximum yaw rate. Then the ship's heading is controlled by heading controller, the GFTSMC algorithm is introduced to nonlinear state error feedback (NLSEF) in order to reduce the chattering. The nonlinear unknown term is estimated by radial basis function (RBF) neural network to improve the robustness and the adaptive ability of the controller. The simulation results show that the ship can follow the desired path precisely under the external environmental disturbances such as wave, wind and current, proving the effectiveness of the designed algorithm.

Citation Download Citation

Mingxin Chen, Renxiang Bu, and Yuzhang Jiao "Path following of under-actuated ships based on adaptive global fast terminal sliding mode control", Proc. SPIE 12722, Third International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023), 127222X (18 July 2023); https://doi.org/10.1117/12.2679527

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