To address the challenges posed by restricted waters, uncertain model parameters, and strong environmental disturbances such as wind and currents during the harbor navigation of underactuated ships, this paper introduces a method for controlling ship heading using partial dynamic linearization, which operates without relying on any model information. Firstly, a partial dynamic linearization model is developed using the system's input-output data, and then the model is adjusted online with changing navigation conditions through pseudo-partial derivative estimation. Additionally, conventional model-free adaptive control methods applied directly to ship heading control in the body coordinate system can result in non-convergent control errors. To solve this problem, this paper introduces a model-free adaptive sliding mode control method. Finally, MATLAB simulation tests and a comparative analysis with the traditional model-free PID control method demonstrate the effectiveness of the proposed control method and its strong robustness against environmental disturbances.


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    Titel :

    Underactuated Ship Heading Control in Harbor Based on Model-Free Adaptive Sliding Mode Control


    Beteiligte:
    Li, Wei (Autor:in) / Han, Junqing (Autor:in) / Fang, Shuai (Autor:in) / Du, Yazhen (Autor:in) / Cao, Yang (Autor:in)


    Erscheinungsdatum :

    15.11.2024


    Format / Umfang :

    14223938 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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