Fractional order adaptive sliding mode control for nonlinear anti-roll of ship
ObjectivesIn order to solve the problem of ship nonlinear rolling control, a fractional order adaptive sliding mode control (FOASMC) algorithm is proposed.MethodsFirst, the spectral density of random waves, spectral density of wave inclination and spectrum of waves acting on ships are calculated usi...
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2021-08-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02069 |
| _version_ | 1819137638656901120 |
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| author | Qionglin FANG |
| author_facet | Qionglin FANG |
| author_sort | Qionglin FANG |
| collection | DOAJ |
| description | ObjectivesIn order to solve the problem of ship nonlinear rolling control, a fractional order adaptive sliding mode control (FOASMC) algorithm is proposed.MethodsFirst, the spectral density of random waves, spectral density of wave inclination and spectrum of waves acting on ships are calculated using a random wave model with long peak waves. The rolling angle tracking error of the system is then verified on the basis of Lyapunov stability theory. Moreover, the switching function is designed to make the system robust to uncertainties and external disturbances. Finally, the effects of fractional order, control law gain and sliding surface mode gain are analyzed.ResultsThe results show that the mean rolling angle and standard deviation of FOASMC are smaller than those of basic sliding mode control (SMC) for various speeds and wave directions. For example, when the ship's speed is 10 m/s and the encountering wave direction is five degrees, the average rolling angle is 25.89% of the basic SMC, and the mean square deviation is 14.32% of the basic SMC.ConclusionsIt is proven that the proposed control algorithm has good stabilization effectiveness at various navigation speeds and encountering wave directions, as well as such advantages as strong robustness, continuous control input and no high gain. |
| first_indexed | 2024-12-22T10:54:03Z |
| format | Article |
| id | doaj.art-4ee0bcd9f3df41feb8138eb2d5cb526a |
| institution | Directory Open Access Journal |
| issn | 1673-3185 1673-3185 |
| language | English |
| last_indexed | 2024-12-22T10:54:03Z |
| publishDate | 2021-08-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-4ee0bcd9f3df41feb8138eb2d5cb526a2022-12-21T18:28:41ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31851673-31852021-08-0116413213910.19693/j.issn.1673-3185.02069ZG2069Fractional order adaptive sliding mode control for nonlinear anti-roll of shipQionglin FANG0Institute of Navigation, Jimei University, Xiamen 361021, ChinaObjectivesIn order to solve the problem of ship nonlinear rolling control, a fractional order adaptive sliding mode control (FOASMC) algorithm is proposed.MethodsFirst, the spectral density of random waves, spectral density of wave inclination and spectrum of waves acting on ships are calculated using a random wave model with long peak waves. The rolling angle tracking error of the system is then verified on the basis of Lyapunov stability theory. Moreover, the switching function is designed to make the system robust to uncertainties and external disturbances. Finally, the effects of fractional order, control law gain and sliding surface mode gain are analyzed.ResultsThe results show that the mean rolling angle and standard deviation of FOASMC are smaller than those of basic sliding mode control (SMC) for various speeds and wave directions. For example, when the ship's speed is 10 m/s and the encountering wave direction is five degrees, the average rolling angle is 25.89% of the basic SMC, and the mean square deviation is 14.32% of the basic SMC.ConclusionsIt is proven that the proposed control algorithm has good stabilization effectiveness at various navigation speeds and encountering wave directions, as well as such advantages as strong robustness, continuous control input and no high gain.http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02069ship rollsliding mode controlfractional orderadaptive control |
| spellingShingle | Qionglin FANG Fractional order adaptive sliding mode control for nonlinear anti-roll of ship Zhongguo Jianchuan Yanjiu ship roll sliding mode control fractional order adaptive control |
| title | Fractional order adaptive sliding mode control for nonlinear anti-roll of ship |
| title_full | Fractional order adaptive sliding mode control for nonlinear anti-roll of ship |
| title_fullStr | Fractional order adaptive sliding mode control for nonlinear anti-roll of ship |
| title_full_unstemmed | Fractional order adaptive sliding mode control for nonlinear anti-roll of ship |
| title_short | Fractional order adaptive sliding mode control for nonlinear anti-roll of ship |
| title_sort | fractional order adaptive sliding mode control for nonlinear anti roll of ship |
| topic | ship roll sliding mode control fractional order adaptive control |
| url | http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02069 |
| work_keys_str_mv | AT qionglinfang fractionalorderadaptiveslidingmodecontrolfornonlinearantirollofship |