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Design of a sliding mode controller for trajectory tracking problem of marine vessels
Cheng, J.; Yi, J.; Zhao, D.
2007
发表期刊IET CONTROL THEORY AND APPLICATIONS
卷号1期号:1页码:233-237
文章类型Article
摘要Trajectory tracking is an issue of vital practical importance for manoeuvreing of marine vessels. Because of the nonlinearities of kinematics and dynamics of motion, conventional control designs, based on the assumption that the kinematics and dynamics can be linearised, are not competent for tracking application of marine vessels. A multivariable sliding mode control law is proposed for the trajectory tracking problem on the basis of nonlinear horizontal motion dynamics of a class of marine vessels, in which three degrees of freedom are concerned. Ship positions and yaw angle are simultaneously tracked. Lyapunov theory is used to prove the stability of the proposed control law. Simulation results show the validity of this method for ship trajectory tracking problem.
WOS标题词Science & Technology ; Technology
关键词[WOS]SHIPS
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号WOS:000245667400029
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9464
专题09年以前成果
作者单位Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
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Cheng, J.,Yi, J.,Zhao, D.. Design of a sliding mode controller for trajectory tracking problem of marine vessels[J]. IET CONTROL THEORY AND APPLICATIONS,2007,1(1):233-237.
APA Cheng, J.,Yi, J.,&Zhao, D..(2007).Design of a sliding mode controller for trajectory tracking problem of marine vessels.IET CONTROL THEORY AND APPLICATIONS,1(1),233-237.
MLA Cheng, J.,et al."Design of a sliding mode controller for trajectory tracking problem of marine vessels".IET CONTROL THEORY AND APPLICATIONS 1.1(2007):233-237.
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