A STUDY ON AN AUTOMATIC SHIP BERTHING USING ADAPTIVE FAULT-TOLERANT SLIDING MODE CONTROLLER WITH ACTUATORS FAULTS
Vol. 79 (2024), Science - Technology
Vol. 79 (2024)

A STUDY ON AN AUTOMATIC SHIP BERTHING USING ADAPTIVE FAULT-TOLERANT SLIDING MODE CONTROLLER WITH ACTUATORS FAULTS

Science - Technology
Published 2024-09-01
TUNG VU SON
DUONG NGUYEN THAI
SUONG NGUYEN VAN
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Keywords

Automatic ship berthing, fault-tolerant controller, actuator faults. Tự động điều khiển tàu cập cầu, điều khiển sửa lỗi, lỗi cơ cấu chấp hành.

How to Cite

VŨ SƠN, T., NGUYỄN THÁI, D., & NGUYỄN VĂN, S. (2024). A STUDY ON AN AUTOMATIC SHIP BERTHING USING ADAPTIVE FAULT-TOLERANT SLIDING MODE CONTROLLER WITH ACTUATORS FAULTS. Journal of Marine Science and Technology, 79(79), 13–19. Retrieved from https://jmst.vimaru.edu.vn/index.php/tckhcnhh/article/view/458
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Abstract

This paper addresses the problem of automatic ship berthing subject to actuator faults and external disturbances. Sliding mode control is used as a core controller, providing robust features for the auto-berthing control system. Two adaptive reaching signals are designed in control signal to compensate the effect of external disturbance and effect of actuator faults. The effectiveness of proposed controller is proved by numerical simulations.

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