DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking
In order to solve the problem of ship's curve trajectory-tracking control, the Norrbin nonlinear response model which can accurately describe the ship's motion state is selected in this paper. The hyperbolic tangent function is used to design the expected hemispheric angle equation, then t...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9340287/ |
| _version_ | 1819086115292839936 |
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| author | Jun Ning Hanmin Chen Wei Li Baisong Du |
| author_facet | Jun Ning Hanmin Chen Wei Li Baisong Du |
| author_sort | Jun Ning |
| collection | DOAJ |
| description | In order to solve the problem of ship's curve trajectory-tracking control, the Norrbin nonlinear response model which can accurately describe the ship's motion state is selected in this paper. The hyperbolic tangent function is used to design the expected hemispheric angle equation, then the complex track control is transformed into a heading control problem. The fast terminal sliding mode (FTSM) is introduced together with the Backstepping control technique to reduce the system adjustment time, eliminate the chattering. Bying combined with extended states observer (ESO) and dynamic surface control (DSC) technique, the internal and external disturbances in real-time can be estimated and compensated, and the “explosion of complexity” caused by backstepping technique is solved. The state of the control system is bounded and stable, and the system error converges to zero. Matlab simulation proves that the controller can realize the trajectory-tracking control quickly and accurately, and has strong robustness to external disturbances. |
| first_indexed | 2024-12-21T21:15:07Z |
| format | Article |
| id | doaj.art-b9f81d509fe04329bbe801ec166009a6 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-21T21:15:07Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-b9f81d509fe04329bbe801ec166009a62022-12-21T18:50:02ZengIEEEIEEE Access2169-35362021-01-019307123072010.1109/ACCESS.2021.30556379340287DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory TrackingJun Ning0https://orcid.org/0000-0002-5828-1322Hanmin Chen1https://orcid.org/0000-0002-9589-6246Wei Li2Baisong Du3Navigation College, Dalian Maritime University, Dalian, ChinaNavigation College, Dalian Maritime University, Dalian, ChinaNavigation College, Dalian Maritime University, Dalian, ChinaSchool of Port and Transportation Engineering, Zhejiang Ocean University, Zhoushan, ChinaIn order to solve the problem of ship's curve trajectory-tracking control, the Norrbin nonlinear response model which can accurately describe the ship's motion state is selected in this paper. The hyperbolic tangent function is used to design the expected hemispheric angle equation, then the complex track control is transformed into a heading control problem. The fast terminal sliding mode (FTSM) is introduced together with the Backstepping control technique to reduce the system adjustment time, eliminate the chattering. Bying combined with extended states observer (ESO) and dynamic surface control (DSC) technique, the internal and external disturbances in real-time can be estimated and compensated, and the “explosion of complexity” caused by backstepping technique is solved. The state of the control system is bounded and stable, and the system error converges to zero. Matlab simulation proves that the controller can realize the trajectory-tracking control quickly and accurately, and has strong robustness to external disturbances.https://ieeexplore.ieee.org/document/9340287/Fast terminal sliding modeextended states observership trajectory-tracking controlrobustness |
| spellingShingle | Jun Ning Hanmin Chen Wei Li Baisong Du DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking IEEE Access Fast terminal sliding mode extended states observer ship trajectory-tracking control robustness |
| title | DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking |
| title_full | DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking |
| title_fullStr | DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking |
| title_full_unstemmed | DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking |
| title_short | DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking |
| title_sort | dsc eso approach to robust sliding model control for ship x2019 s curve trajectory tracking |
| topic | Fast terminal sliding mode extended states observer ship trajectory-tracking control robustness |
| url | https://ieeexplore.ieee.org/document/9340287/ |
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