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For the trajectory tracking in three degrees of freedom underactuated ships with parameters uncertainties and time-varying disturbances, a robust sliding-mode methodology is proposed. The ship's mass matrices are not assumed to be diagonal, as often required in the literature. Based on the coordinate transformations, the nonzero off-diagonal matrices are turned into the diagonal matrices. The controller...
A sliding mode control law is presented for designing a path following controller that forces an underactuated surface vessel to follow a reference path. The reference path can be a prescribed path or one generated by a virtual vessel. The control law is developed by using Lyapunov direct method and sliding mode control. According to that the sway axis of the vessel is not directly actuated, and the...
Dynamic positioning system of marine vehicles has been undergoing a rapid development and application. In this paper a maneuvering mathematical model and a pure sway motion model with three degrees of freedom are established, an ADRC controller for the dynamic positioning system of a rescue ship is designed. The results of simulation indicate that the control performance and robustness of ADRC is...
A sliding mode control law of formation control for multiple underactuated surface vessels is proposed. The three degrees of freedom dynamics model is considered. Since the sway axis is not directly actuated, the vessels are underactuated. The formation model is obtained based on the leader-following approach. The controller is designed by using Lyapunov's direct method and sliding mode control technique...
By using the quasi steady state and mixed modeling methods, the nonlinear mathematical model of the ship main propulsion system is established. An improved integrated control algorithm based on CMAC and PID is presented in the ship propulsion system. Simulation computing is completed to investigate the dynamic characteristics of the ship propulsion system on rough sea conditions. The results show...
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