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Design of a sliding mode controller for trajectory tracking problem of marine vessels
Cheng, J.; Yi, J.; Zhao, D.
Source PublicationIET CONTROL THEORY AND APPLICATIONS
2007
Volume1Issue:1Pages:233-237
SubtypeArticle
AbstractTrajectory 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 HeadingsScience & Technology ; Technology
WOS KeywordSHIPS
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000245667400029
Citation statistics
Cited Times:43[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9464
Collection09年以前成果
AffiliationChinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
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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