标题：DESIGN OF ADAPTIVE FUZZY SLIDING MODE CONTROLLER FOR SHIP COURSE CONTROL
作者：Liu Wenjiang; Sui Qingmei; Zhou Fengyu; Xiao Hairong
作者机构：[Liu Wenjiang; Sui Qingmei; Zhou Fengyu] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China.; [Xiao Hairong] Shandong Jiaotong Uni 更多
会议名称：International Conference on Mechanical Engineering and Technology (ICMET 2011)
会议日期：NOV 24-25, 2011
来源：2011 INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND TECHNOLOGY (ICMET 2011)
关键词：Ship course control; Nonlinear system; Adaptive fuzzy sliding mode; control(AFSMC); Robustness
摘要：In this paper, the adaptive fuzzy sliding mode controller (AFSMC) is designed for ship course controller. By adopting the fuzzy logic system to approximate uncertain function of the ship dynamic system and the switching-type control term in the sliding mode control law, the control law is designed and chattering problem of sliding mode control is relieved. An online adaptive tuning algorithm is also designed. Based on the Lyapunov function, it is proved in theory that the controller makes all signals in the system of ship motion uniformly bounded and tracking errors converging to zero. Simulation studies on the course-keeping and course-changing in the presence of parameter perturbation and environment disturbances have shown that the proposed controller has superior controlling effect and fairly strong robustness.