IEICE TRANSACTIONS on Fundamentals
Integrated Sliding Mode Controller Design for Autopilot and Roll Stabilizer of Ship
Summary :
Designing ship controllers is a challenging problem because of nonlinear dynamics, uncertainty in parameters and external disturbances. Furthermore, the interaction between yaw and roll angles increase the complexity of this issue when autopilot and roll stabilizer are considered together. In this research, a MIMO sliding mode controller is designed to control yaw and roll angles simultaneously. The major contribution of the paper is designing an integrated controller based on a nonlinear model of ship as well as considering analytic bounds of uncertainties. Then, in order to reduce the chattering phenomenon and to improve the tracking ability of the system, the control scheme has been modified using an integral switching variable. Simulation results show the success of the proposed method to overcome nonlinearity and disturbances, as well as high performance in rough wave conditions. Also, comparison between the proposed controller and two SISO control schemes demonstrates advantages of the integrated control method.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E93-A No.6 pp.1171-1180
- Publication Date
- 2010/06/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E93.A.1171
- Type of Manuscript
- PAPER
- Category
- Systems and Control
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Keyword
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Abbas HARIFI, Ghasem ALIZADEH, Sohrab KHANMOHAMMADI, Iraj HASSANZADEH, "Integrated Sliding Mode Controller Design for Autopilot and Roll Stabilizer of Ship" in IEICE TRANSACTIONS on Fundamentals,
vol. E93-A, no. 6, pp. 1171-1180, June 2010, doi: 10.1587/transfun.E93.A.1171.
Abstract: Designing ship controllers is a challenging problem because of nonlinear dynamics, uncertainty in parameters and external disturbances. Furthermore, the interaction between yaw and roll angles increase the complexity of this issue when autopilot and roll stabilizer are considered together. In this research, a MIMO sliding mode controller is designed to control yaw and roll angles simultaneously. The major contribution of the paper is designing an integrated controller based on a nonlinear model of ship as well as considering analytic bounds of uncertainties. Then, in order to reduce the chattering phenomenon and to improve the tracking ability of the system, the control scheme has been modified using an integral switching variable. Simulation results show the success of the proposed method to overcome nonlinearity and disturbances, as well as high performance in rough wave conditions. Also, comparison between the proposed controller and two SISO control schemes demonstrates advantages of the integrated control method.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E93.A.1171/_p
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@ARTICLE{e93-a_6_1171,
author={Abbas HARIFI, Ghasem ALIZADEH, Sohrab KHANMOHAMMADI, Iraj HASSANZADEH, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Integrated Sliding Mode Controller Design for Autopilot and Roll Stabilizer of Ship},
year={2010},
volume={E93-A},
number={6},
pages={1171-1180},
abstract={Designing ship controllers is a challenging problem because of nonlinear dynamics, uncertainty in parameters and external disturbances. Furthermore, the interaction between yaw and roll angles increase the complexity of this issue when autopilot and roll stabilizer are considered together. In this research, a MIMO sliding mode controller is designed to control yaw and roll angles simultaneously. The major contribution of the paper is designing an integrated controller based on a nonlinear model of ship as well as considering analytic bounds of uncertainties. Then, in order to reduce the chattering phenomenon and to improve the tracking ability of the system, the control scheme has been modified using an integral switching variable. Simulation results show the success of the proposed method to overcome nonlinearity and disturbances, as well as high performance in rough wave conditions. Also, comparison between the proposed controller and two SISO control schemes demonstrates advantages of the integrated control method.},
keywords={},
doi={10.1587/transfun.E93.A.1171},
ISSN={1745-1337},
month={June},}
Copy
TY - JOUR
TI - Integrated Sliding Mode Controller Design for Autopilot and Roll Stabilizer of Ship
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1171
EP - 1180
AU - Abbas HARIFI
AU - Ghasem ALIZADEH
AU - Sohrab KHANMOHAMMADI
AU - Iraj HASSANZADEH
PY - 2010
DO - 10.1587/transfun.E93.A.1171
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E93-A
IS - 6
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - June 2010
AB - Designing ship controllers is a challenging problem because of nonlinear dynamics, uncertainty in parameters and external disturbances. Furthermore, the interaction between yaw and roll angles increase the complexity of this issue when autopilot and roll stabilizer are considered together. In this research, a MIMO sliding mode controller is designed to control yaw and roll angles simultaneously. The major contribution of the paper is designing an integrated controller based on a nonlinear model of ship as well as considering analytic bounds of uncertainties. Then, in order to reduce the chattering phenomenon and to improve the tracking ability of the system, the control scheme has been modified using an integral switching variable. Simulation results show the success of the proposed method to overcome nonlinearity and disturbances, as well as high performance in rough wave conditions. Also, comparison between the proposed controller and two SISO control schemes demonstrates advantages of the integrated control method.
ER -
English
