Abstract
An integral sliding mode controller with neural network was investigated for ship navigation, which realizes the accurate and stable tracking of the ship in the steering process, on the basis of backstepping method. First of all, an integrator sliding surface were designed with the sliding mode variable structure control technology. Secondly, radial basis function neural network was applied to approximate the system nonlinear function and uncertain parameters. Furthermore, a nonlinear damping law was introduced to overcome the bounded outside interference. Finally, on the basis of the above, the system control law was deduced by using the backstepping method. The simulation results show that the neural network can accurately approximate the nonlinear function and uncertain parameters of the ship, and the controller output is smooth and the heading output is not sensitive to perturbation of parameters and external disturbance, and the controller has strong robustness.
Highlights
The factors that affect the performance of ship motion control are nonlinearity of ship motion system function, uncertainty of ship model parameters and unknown disturbance
It is well known that the most advantage of sliding mode control [1] is able to overcome uncertainty of the system, which has highly robustness for uncertain dynamic system with outside disturbance, especially effectiveness for control of modelless system
The variable structure control system algorithm is simple, fast response, and robustness to external noise and parameter perturbation. It is useful for ship steering control
Summary
The factors that affect the performance of ship motion control are nonlinearity of ship motion system function, uncertainty of ship model parameters and unknown disturbance. It is well known that the most advantage of sliding mode control [1] is able to overcome uncertainty of the system, which has highly robustness for uncertain dynamic system with outside disturbance, especially effectiveness for control of modelless system It is an important method for suppressing high frequency switching that causes chattering of control input. Ship course response model has significant nonlinear characteristics, and backstepping [2] is a very effective method used to deal with the problem about nonlinear system controller design It uses the system's structural properties, recursively constructs the entire system Lyapunov function, and makes the controller being more flexible and robust, and reduces the difficulty and energy. Ship course sliding mode controller is designed in this paper by using backstepping method
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