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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:
    Li, Wei (author) / Han, Junqing (author) / Fang, Shuai (author) / Du, Yazhen (author) / Cao, Yang (author)


    Publication date :

    2024-11-15


    Size :

    14223938 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Differential Evolution Algorithm-Based Iterative Sliding Mode Control of Underactuated Ship Motion

    Huaran Yan / Yingjie Xiao / Qinrong Li et al. | DOAJ | 2021

    Free access

    Ship Heading Control Based on Model Reference Adaptive Control

    He, Jiawei / Li, Shijie / Guan, Hongxu et al. | IEEE | 2023



    DRFNN Adaptive Observer Based Sliding Mode Tracking Control of an Underactuated Surface Vehicle

    Xia, Guoqing / Wang, Guoqing / Chen, Xinghua et al. | British Library Conference Proceedings | 2015