Abstract
In this article, a sliding mode control scheme for the autopilot system of a ship is presented, which also incorporates actuator saturation. Under the designed controller, the actuator doesn’t ente...
Highlights
Water being the most abundant substance at the surface of the earth makes about 1.4 billion cubic kilometers (326 million cubic miles) in the form of oceans, lakes, streams, glaciers, and groundwaters.[1]
While in the study by Shi,[21] sliding mode control (SMC) had been designed for the autopilot system of an autonomous underwater vehicle (AUV) in order to eliminate the steady-state error
It had been simulated using the mathematical model of an AUV named remote environmental monitoring units for steering, diving, and speed controlling in the presence of disturbance due to waves
Summary
Water being the most abundant substance at the surface of the earth makes about 1.4 billion cubic kilometers (326 million cubic miles) in the form of oceans, lakes, streams, glaciers, and groundwaters.[1]. While in the study by Shi,[21] SMC had been designed for the autopilot system of an autonomous underwater vehicle (AUV) in order to eliminate the steady-state error Afterward, it had been simulated using the mathematical model of an AUV named remote environmental monitoring units for steering, diving, and speed controlling in the presence of disturbance due to waves. In “Mathematical model of a ship” section, the modeling of a ship is discussed, followed by discussion of the SMC design for saturated systems in “Sliding mode control design” section. Due to the simplicity and effectiveness of the above model, it is commonly used for steering in autopilot systems.[7,38] it can be written in the form of a state equation considering input saturation as[7]. 1 S2b 1⁄2S1ðx_1r À KUmÞ þ S2ðx_2r À aKUmÞ þ < Um (46) From equation (24), the value of K can be found as[7] b
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
