Path Control of Surface Ships Using Sliding Modes
Loading...
Authors
Papoulias, F. A.
Healey, A. J.
Subjects
Advisors
Date of Issue
1992
Date
Publisher
Language
Abstract
The surface ship path control problem is formulated as a nonlinear state space control problem subject to disturbances modeling errors, and parameter uncertainty. A "destroyer study" ship using a nonlinear maneuvering ~odel is used as the system model. The system to be controlled is highly nonlinear with parameters that vary with speed and operational conditions. Uncertainty in the for.ce ~oefficients, as well as in disturbances of the seaway lead to the need for a robust control for nav1gat1onal accuracy. This paper investigates the use of cross track error and line-of-sight guidance laws wit~ a sli?ing m~de autopilot for path control of surface ships, and presents results based on computer s1mulat1ons using the model described above. The results illustrate the simplicity and effectiveness of the robust control design for compensating the nonlinearities and disturbance effects with improvements. in the navigational accuracy. Comparisons between the two guidance schemes are presented and guidelines are developed with respect to proper guidance selection.
Type
Article
Description
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Papoulias, F. A., Healey, A. J., "Path Control of Surface Ships Using Sliding Modes", Journal of Ship Research, Vol. 36, No. 2, 1992
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.