2010•Xihua Daxue xuebao. Zhexue shehui kexue banRequires access

Study on Self-adapting Fuzzy Control with Sliding-mode Variable Structure for Course Keeping of Ship

Nan Chen

Abstract

Considering the characteristics of unknown control gain,parametric uncertainties and disturbances in nonlinear control of ship course,a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology,the approximation property of fuzzy logical system and multiple sliding-mode control algorithm.Based on the Lyapunov function,it was proved in theory that the controller made all signals in the nonlinear system of ship motion uniformly bounded,with tracking errors converging to a neighborhood of zero.The simulation results showed that the controller design could track a desired course fast and accurately.It also exhibited strong robustness against system uncertainties.

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Key concepts: Control theory (sociology), Sliding mode control, Variable structure control, Robustness (evolution), Nonlinear system, Fuzzy control system, Fuzzy logic, Lyapunov function