Tracking Control of a Ship by PI-Type Sliding Controller

Authors

Ker-Wei Yu, Department of Marine Engineering, National Kaohsiung Marine University, 142, Hai-Chuan Rd. Nan-Tzu, Kaohsiung, Taiwan 811.Follow
Chen-En Wu, Department of Marine Engineering, National Kaohsiung Marine University, 142, Hai-Chuan Rd. Nan-Tzu, Kaohsiung, Taiwan 811.

Abstract

In this paper, the tracking control of ship maneuvering by a modified PI-type sliding controller is investigated. This scheme is composed of three components. The first component is the equivalent control, which is designed to assure that the state trajectory of the system remains in the sliding surface and the nominal system is stable in the absence of system uncertainties and disturbance. The second and third components are proportional-type and integral-type variable structure controllers, respectively. Several numerical examples of ship handling, namely course keeping, course changing, and course tracking are given to demonstrate the applicability of the proposed control scheme.

Recommended Citation

Yu, Ker-Wei and Wu, Chen-En (2004) "Tracking Control of a Ship by PI-Type Sliding Controller," Journal of Marine Science and Technology: Vol. 12: Iss. 3, Article 7.
DOI: 10.51400/2709-6998.2237
Available at: https://jmstt.ntou.edu.tw/journal/vol12/iss3/7