Fuzzy Adaptive Iterative Sliding Mode Control for Sail-Assisted Ship Trajectory Tracking

For the problem of sail-assisted ship prone to track deviation influenced by wind and other disturbances, a fuzzy adaptive iterative sliding mode control method is presented. The evaluation function is introduced into fuzzy control scheme to evaluate and adjust the designed parameters online. Under the proposed method, the estimation of the uncertain parameters and disturbances can be avoided, moreover, the control speed is speeded up and the chattering phenomenon is effectively discarded. Finally, numerical simulations have been carried out on the straight trajectory tracking control of the sail-assisted ship. The simulation results show that the controller can achieve good tracking performance and it is robust against the perturbation from the disturbances.