제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제17권9호
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  • Pages.869-874
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  • 2011
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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선박위치제어를 위한 슬라이딩모드 제어기 설계

Design of Sliding Mode Controller for Ship Position Control

  • ;
  • 김영복 (부경대학교 공과대학 기계시스템공학과)
  • 투고 : 2011.04.18
  • 심사 : 2011.07.20
  • 발행 : 2011.09.01
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초록

This paper addresses the trajectory tracking problem for ship berthing by using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and robust performance with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

키워드

참고문헌

  1. T. Holzhuter, "LQG approach for the high precision track control of ships," Proc. of IEE Control Theory Applications, vol. 144, no. 2, pp. 121-127, 1997. https://doi.org/10.1049/ip-cta:19971032
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  6. R. C. Zhang, Z. Sun, F. Sun, and H. Xu, "Path control of a surface ship in restricted waters using sliding mode," Proc. of 37th IEEE Conference on Decision and Control, pp. 4237-4244, 1998. https://doi.org/10.1109/CDC.1998.758188
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