Fast Terminal Sliding Mode Control for the Ship Steering Problem

Vweza, Alick Onesimus; Lee, Deok Jin; Hong, Dong Pyo; Chong, Kil To

doi:10.4028/www.scientific.net/amm.433-435.1078

Cited by 3 publications

(3 citation statements)

References 11 publications

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“…In [140], with the aid of the TSMC method, two asymptotically stabilizing control laws were proposed to asymptotically stabilize the underactuated surface vessel. In [141], a robust TSMC was applied to the ship control in the rudder blade deflections.…”

Section: F Vehicle and Vessel Control Systemsmentioning

confidence: 99%

Terminal Sliding Mode Control – An Overview

Feng

Man

2021

IEEE Open J. Ind. Electron. Soc.

211

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Sliding mode control (SMC) has been a very popular control technology due to its simplicity and robustness against uncertainties and disturbances since its inception more than 60 years ago. Its very foundation of stability and stabilization is built on the principle of the Lyapunov theory which ascertains asymptotic stability. In the 1990s, a novel class of SMC, called the terminal sliding mode control (TSMC), was proposed which has been studied and applied extensively, giving rise to a robust control with tunable finite-time convergence delivering fast response, high precision, and strong robustness. In recent years, interest in this particular control technology has been increasing. This paper provides an overview of the state of the art of the TSMC theory and its applications, and postulates key technical issues and future challenges.

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Section: F Vehicle and Vessel Control Systemsmentioning

confidence: 99%

Terminal Sliding Mode Control – An Overview

Feng

Man

2021

IEEE Open J. Ind. Electron. Soc.

211

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“…This method guarantees the finite time convergence and also removes the reaching stage to improve the global robustness performance. In Vweza et al (2013), the presentation of a robust TSM control method with fast switching curve is offered to the control problem of ship, which contains guidance of the ship along the preferred course using the automatic changes in the rudder blade deviations. This technique is performed to reduce the chattering problem of the control input and initial swing of the rudder angle in the attendance of perturbations.…”

Section: Literature Reviewmentioning

confidence: 99%

Second-order fast terminal sliding mode control design based on LMI for a class of non-linear uncertain systems and its application to chaotic systems

Mobayen

Băleanu

Tchier

2016

Journal of Vibration and Control

102

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In this paper, an linear matrix inequalities (LMI)-based second-order fast terminal sliding mode control technique is investigated for the tracking problem of a class of non-linear uncertain systems with matched and mismatched uncertainties. Using the offered approach, a robust chattering-free control scheme is presented to prove the presence of the switching around the sliding surface in the finite time. Based on the Lyapunov stability theorem, the LMI conditions are presented to make the state errors into predictable bounds and the parameters of the controller are obtained in the form of LMI. The control structure is independent of the order of the model. Then, the proposed method is fairly simple and there is no difficulty in the use of this scheme. Simulations on the well-known Genesio's chaotic system and Chua's circuit system are employed to emphasize the success of the suggested scheme. The simulation results on the Genesio's system demonstrate that the offered technique leads to the superior improvement on the control effort and tracking performance.

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“…38 Some scholars have applied the GFTSM control technology to solve the problem of ship's course keeping. 39,40 But GFTSM control has some disadvantages. Firstly, the system dynamics is needed in the calculation of the equivalent control that limits its application.…”

Section: Introductionmentioning

confidence: 99%

Global fast terminal sliding mode control based on radial basis function neural network for course keeping of unmanned surface vehicle

Wan

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

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A scheme to solve the course keeping problem of the unmanned surface vehicle with nonlinear and uncertain characteristics and unknown external disturbances is investigated in this article. The chattering existing in global fast terminal sliding mode controller in solving the course keeping problem of the unmanned surface vehicle with external disturbance is analyzed. To reduce the chattering and eliminate the influence of the unknown disturbance, an adaptive global fast terminal sliding mode controller based on radial basis function neural network is developed. The equivalent control that usually requires a precise model information of the system is computed using the radial basis function neural network. The weights of the neural network are online adjusted according to the adaptive law that is derived using Lyapunov method to ensure the stability of the closed-loop system. Using the online learning of the neural network, the nonlinear uncertainty of the system and the unknown disturbance of external environment are compensated, and the system chattering is reduced effectively as well. The simulation results demonstrate that the proposed controller can achieve a good performance regarding the fast response and smooth control.

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Fast Terminal Sliding Mode Control for the Ship Steering Problem

Cited by 3 publications

References 11 publications

Terminal Sliding Mode Control – An Overview

Terminal Sliding Mode Control – An Overview

Second-order fast terminal sliding mode control design based on LMI for a class of non-linear uncertain systems and its application to chaotic systems

Global fast terminal sliding mode control based on radial basis function neural network for course keeping of unmanned surface vehicle

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