Under-actuated ships are subject to wind, currents, waves, and other environmental unknowns during sea travel, as well as uncertainties within the ship and issues causing the ship not to follow the desired path accurately. A fuzzy radial basis function (FRBF) neural network sliding mode controller based on a new reaching law has thus been proposed in this paper in answer to these issues. Firstly, the line-of-sight (LOS) guidance principle transforms direct following into indirect following and trajectory control into heading control. Secondly, the sliding mode controller with integral nonsingular fast terminal sliding mode control (NFTSMC) and a new reaching law were adopted to solve the drawbacks of the conventional reaching law of the sliding mode. Thirdly, the FRBF neural network was employed to estimate the total uncertainty, the system stability was verified using the Lyapunov theory. Finally, the system was simulated the Maneuvering Mathematical Model Group (MMG) model. The simulation experiment results demonstrate excellent performance in ship path-following and highlight the practical value of the build controller.
Path-Following of Under-Actuated Ships Based on Nonsingular Fast Terminal Sliding Mode
19.04.2024
1019808 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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