By Topic

Path control of a surface ship in restricted waters using sliding mode

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Rongjun Zhang ; Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA ; Yaobin Chen ; Zengqi Sun ; Fuchun Sun
more authors

This paper addresses the path control problem for a ship steering in restricted waters using sliding mode techniques. The ship's dynamic equations and numerical computation of the bank disturbance forces are briefly described. The ship's path control system is presented, which leads to a nonminimum phase system. Therefore, the traditional input-output linearization strategy in geometric control theory is modified to convert the controller design of a fourth-order nonlinear system to that of a second-order linear system. A continuous sliding mode controller is designed to ensure system's robustness and better performance. Simulation and experimental studies validate the controller design. The simulation results demonstrate the effectiveness of the proposed controller and its practicality in the steering control and navigation of the ship

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:8 ,  Issue: 4 )