Improved super-twisting sliding mode control for ship heading with sideslip angle compensation

被引：19

作者：

Chu, Ruiting ^{[1
]}

Liu, Zhiquan ^{[1
]}

Chu, Zhenzhong ^{[2
]}

机构：

[1] Shanghai Maritime Univ, Key Lab Transport Ind Marine Technol & Control En, Shanghai 201306, Peoples R China

[2] Univ Shanghai Sci & Technol, Sch Mech Engn, Shanghai 200093, Peoples R China

来源：

OCEAN ENGINEERING | 2022年 / 260卷

关键词：

Heading control; Sideslip angle; Super-twisting; Sliding mode control; FTESO; Constrained input; FINITE-TIME OBSERVERS; VEHICLE;

D O I：

10.1016/j.oceaneng.2022.111996

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：

This study aims to improve the performance of ship heading control and reduce the tracking error. A sideslip angle compensation method and an improved super-twisting sliding mode control algorithm are proposed. Firstly, a pre-filter is selected to reduce the effect of overshoot in turns. The time varying sideslip angle is estimated by an finite time extended state observer (FTESO), while external disturbance and internal uncertainty are also estimated, and the heading error is simultaneously amended by sideslip angle. To address the inherent chattering effect of sliding mode control, a reaching law based on improved super-twisting algorithm is designed. Additionally, a saturation compensation system is used to eliminate the input saturation characteristics. The stability of control system is proved using the Lyapunov theory. Finally, simulation results illustrate the effectiveness of the proposed controller.

引用

页数：8

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