Systems Engineering and Electronics ›› 2018, Vol. 40 ›› Issue (3): 643-651.doi: 10.3969/j.issn.1001-506X.2018.03.24

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Adaptive sliding mode trajectory tracking control of underactuated ship based on DSC-MLP

SHEN Zhipeng, WANG Ru   

  1. School of Information Science and Technology, Dalian Maritime University, Dalian 116026, China
  • Online:2018-02-26 Published:2018-02-26

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Abstract:

For the trajectory tracking control problem of underactuated ships with parameter uncertainties and external disturbances, an adaptive sliding mode control strategy based on dynamic surface control (DSC) and minimal learning parameter (MLP) is proposed. In order to achieve convergence of position tracking error, the backstepping method is employed to design a virtual control law for surge and sway velocities of ships to stabilize position errors in the controller design. The DSC control technique is introduced to eliminate the “differential explosion” problem of derivation term of virtual control vector of the backstepping method. The MLP technique is employed to reduce the computation burden of controller and avoid the “the curse of dimensionality” problem, which substitutes single parameter online learning for all weights online learning. An adaptive law incorporated with σ-modification is proposed to prevent parameters from drifting. By the stability analysis, it is proved that the proposed control law can guarantee the uniformly ultimate boundedness of trajectory tracking errors in the closed-loop trajectory tracking system of ship. Simulation results validate the effectiveness and the performance of the proposed scheme.

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