TRACKING CONTROL BASED ON ROBUST CONTROLLER FOR SURFACE VESSEL
No. 69 (2022), Science - Technology
No. 69 (2022)

TRACKING CONTROL BASED ON ROBUST CONTROLLER FOR SURFACE VESSEL

Science - Technology
Published 2022-05-30
TRIEU PHAM VAN
TRONg DANG VAN
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Keywords

Surface vessel, Backstepping technique, Sliding Mode Control (SMC), Robust controller, Disturbance filter. Tàu thủy, Kỹ thuật cuốn chiếu, Bộ điều khiển trượt, Bộ điều khiển bền vững, Bộ lọc nhiễu.

How to Cite

PHẠM VĂN, T., & ĐẶNG VĂN, T. (2022). TRACKING CONTROL BASED ON ROBUST CONTROLLER FOR SURFACE VESSEL. Journal of Marine Science and Technology, 69(69), 16–21. Retrieved from https://jmst.vimaru.edu.vn/index.php/tckhcnhh/article/view/25
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Abstract

In this paper, a cascade control structure combined with a nonlinear disturbance filter will be introduced to deal with the uncertainties in the surface vessel model. The transformation of the mathematical model helps to reduce the dependence on the model when designing algorithms based on backstepping techniques and disturbance filter. The stability of the controller for the surface vessel model is considered. The simulation results demonstrate the efficiency of the proposed controller and compare it with a regular sliding mode controller.

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