2012•Coal TechnologyRequires access

Design of Robust Adaptive Sliding-mode Controller for large Collier Course-tracking

Lei Yuan

Abstract

Parametric adaptive algorithm is deduced by Lyapunov method,and it is proved theoretically that the controller makes all signals of the nonlinear ship motion system uniformly bounded,with tracking errors converging to zero.Taking a certain ship for example,simulations in the conditions of simulink show that the controller designed here has a good tracking performance,and it also exhibits strong robustness peculiarity to system uncertainties.

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Available abstract

Key concepts: Control theory (sociology), Robustness (evolution), Parametric statistics, Nonlinear system, Bounded function, Lyapunov function, Sliding mode control, Tracking (education)