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Sliding Mode Tracking Control of Underactuated Surface Vessels

[+] Author Affiliations
Hashem Ashrafiuon, Ping Ren

Villanova University

Paper No. IMECE2005-79276, pp. 11-16; 6 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


This paper presents a position tracking controller for underactuated autonomous surface vessels. An asymptotically stable model-based tracking control algorithm is proposed for surface vessels based on sliding mode control approach since it is capable of handling large parameter uncertainties, unmodeled dynamics, and disturbances. A simple three-degree-of-freedom planar model of a surface vessel is presented with two actuator inputs providing surge and yaw motions. Two sliding surfaces are defined based on the vessel’s tracking errors. A first order surface is defined in terms of the surge position and velocity tracking errors. This leads to the calculation of the surge control force. A second order surface is then defined in terms of the vessel’s lateral position, velocity, and acceleration tracking errors. This surface lets us determine the required yaw control moment based on the surge force. The derivation includes integration of parameter uncertainties and disturbances into the formulation. The proposed sliding controller is tested through simulation of several different position tracking problems of an autonomous surface vessel with relatively large parameter uncertainties and environmental disturbances such as waves and wind. The wind and wave models are defined in terms of environmental parameters (wave period, length, wind speed, direction, etc.) and included in the formulation. Suitable nominal values and bounds are defined in two sliding mode controllers for the model parameters and wave and wind disturbances in order to insure the control law’s robustness.

Copyright © 2005 by ASME



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