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The control problem of roll motion of ships which has multiple equilibrium points is investigated in this paper. A nonlinear control law is derived to make the states of this system asymptotically track and regulate the desired state. The control scheme is highly robust and achieves a stable closed loop system despite the presence of uncertainty and external disturbance. An illustrative simulation...
This paper proposes an adaptive fast terminal sliding mode control for a class of multiple input nonlinear systems with time-varying mismatched uncertainties via LMI approach. First, a novel fast terminal sliding surface design method for a class of nonlinear systems is proposed based on Lyapunov method. The sufficient conditions are provided for the uncertain system on the sliding surface, such that...
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