Path Control of Surface Ships Using Sliding Modes
Papoulias, F. A.
Healey, A. J.
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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.
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