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

Authors

Mingcong Li, 1. School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China;
Guo Chen, 1. School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China;
Yuan Yi, 1. School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China;

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.

Recommended Citation

Li, Mingcong; Chen, Guo; and Yi, Yuan (2019) "Adaptive Backstepping Sliding Mode Control for Straight Line Track of Unmanned Transport Ship," Journal of System Simulation: Vol. 30: Iss. 11, Article 47.
DOI: 10.16182/j.issn1004731x.joss.201811047
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss11/47

First Page

4448

Revised Date

2018-06-29

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201811047

Last Page

4454

CLC

U661.33+4

Recommended Citation

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.

DOI

10.16182/j.issn1004731x.joss.201811047