<abstract xmlns="http://www.w3.org/1999/xhtml"><p> The paper addresses an important issue in surface vessel motion control practice that the ship dynamics and sailing performance can be affected by speed loss. The vessel speed is significantly decreased by the added resistance generated by waves. An adaptive sliding mode course keeping control design is proposed which takes into account uncertain ship dynamics caused by forward speed variations, while avoiding performance compromises under changing operating and environmental conditions. The sliding mode control provides robust performance for time-varying wave disturbances and time-varying changes in ship parameters and actuator dynamics. After combining the unknown but bounded system uncertainties, the design of the adaptation law is obtained which is based on the Lyapunov’s direct method. Simulations on a ship with two rudders illustrate the effectiveness of the proposed solution.</p></abstract>

The paper addresses an important issue in surface vessel motion control practice that the ship dynamics and sailing performance can be affected by speed loss. The vessel speed is significantly decreased by the added resistance generated by waves. An adaptive sliding mode course keeping control design is proposed which takes into account uncertain ship dynamics caused by forward speed variations, while avoiding performance compromises under changing operating and environmental conditions. The sliding mode control provides robust performance for time-varying wave disturbances and time-varying changes in ship parameters and actuator dynamics. After combining the unknown but bounded system uncertainties, the design of the adaptation law is obtained which is based on the Lyapunov’s direct method. Simulations on a ship with two rudders illustrate the effectiveness of the proposed solution.

Adaptive Sliding Mode Control for Ship Autopilot with Speed Keeping

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Adaptive Sliding Mode Control for Ship Autopilot with Speed Keeping"}

The paper addresses an important issue in surface vessel motion control practice that the ship dynamics and sailing performance can be affected by speed loss....

Adaptive Sliding Mode Control for Ship Autopilot with Speed Keeping

Published Online: Jan 18, 2019

Page range: 21 - 29

DOI: https://doi.org/10.2478/pomr-2018-0128

Keywords
surface vessel, speed loss, adaptive control, course keeping, sliding mode control

© 2019 Zhiquan Liu, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Adaptive Sliding Mode Control for Ship Autopilot with Speed Keeping

Published Online: Jan 18, 2019

Page range: 21 - 29

DOI: https://doi.org/10.2478/pomr-2018-0128

Keywordssurface vessel, speed loss, adaptive control, course keeping, sliding mode control

© 2019 Zhiquan Liu, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
surface vessel, speed loss, adaptive control, course keeping, sliding mode control