Nonlinear Robust Sliding Mode Control for Dynamic Positioning of a Surface Vessel

被引：0

作者：

Fernando, Indunil ^{[1
,2
]}

Chong, Wen Tong ^{[3
]}

Xiang, Xianbo ^{[1
,2
,4
,5
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, Wuhan 430074, Peoples R China

[2] Shenzhen Huazhong Univ Sci & Technol, Res Inst, Shenzhen 518057, Peoples R China

[3] Univ Malaya, Dept Mech Engn, Fac Engn, Kuala Lumpur, Malaysia

[4] Collaborat Innovat Ctr Adv Ship & Deep Sea Explor, Shanghai 200240, Peoples R China

[5] Hubei Key Lab Naval Architecture & Ocean Engn Hyd, Wuhan 430074, Peoples R China

来源：

2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS) | 2018年

基金：

中国国家自然科学基金;

关键词：

Sliding mode controller; dynamic positioning; robust; unknown disturbances; DESIGN; SHIPS;

D O I：

暂无

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Offshore explorations and operations are increasing day by day looking for ocean resources and dynamic positioning (DP) systems are incorporated with these offshore vessels. DP controllers send appropriate signals to thrusters in order to maintain its location and heading or to follow a predetermined path at slow speeds. Since the ocean environment is dynamic and nonlinear, it is necessary that a robust controller achieve desired objective. This paper focus on the design and numerical simulation of a robust Sliding Mode Controller (SMC) for dynamic positioning fully actuated surface vessel under input saturation and time varying unknown environmental disturbances.

引用

页数：6

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