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.
Underactuated Ship Heading Control in Harbor Based on Model-Free Adaptive Sliding Mode Control
2024-11-15
14223938 byte
Conference paper
Electronic Resource
English
Differential Evolution Algorithm-Based Iterative Sliding Mode Control of Underactuated Ship Motion
DOAJ | 2021
|DRFNN Adaptive Observer Based Sliding Mode Tracking Control of an Underactuated Surface Vehicle
British Library Conference Proceedings | 2015
|