Ship course nonlinear adaptive sliding mode control based on backstepping

In order to achieve ship course fast and accurate tracking control when changing course significantly,the Bech ship maneuvering mathematical model is used to accurately describe ship maneuvering performance,considering the nonlinear characteristics,modeling uncertainties and external disturbances such as wind,wave and flow in ship motion,a ship course nonlinear sliding mode controller is designed in this paper. Combining sliding mode control technology with adaptive control technology to design ship course control algorithm based on backstepping,utilizing Lyapunov stability theorem to prove the control system is asymptotically stable and ship course control simulation is carried out. The simulation result shows that the controller,whose rudder angle is reasonable and course is not sensitive,devised in this paper has superior performance and strong robustness.