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.

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