원문정보
초록
영어
For the motion control problem of a SWATH ship, a terminal sliding mode controller is designed based on extended state observer (ESO). Firstly, considering the motion control problem under random wave disturbances, the nonlinear model of SWATH ship with compound disturbances is established. Then, considering the parameters perturbation, complexity and randomness of the wave, the control system is divided into inner loop observer and outer loop controller respectively. An ESO is implemented to estimate and compensate the compound disturbances in the terminal sliding mode controller. At last, the asymptotical stability is achieved based on Lyapunov theory. Simulations show the effectiveness of the proposed method. Linear ESO can estimate the compound disturbances successfully, meanwhile, the terminal sliding mode controller can enable the system states converge quickly.
목차
1. Introduction
2. System Model
3. Control System Implementation
3.1. Control Objective
3.2. Observer Configuration
3.3. Terminal SMC Strategy
4. Stability Analysis
5. Simulations and Analysis
5.1 Simulations of Wave Disturbances
5.2 Simulation Results
6. Conclusions
References