Dynamic Sliding Mode Control of Ship Rudder-fin Joint Nonlinear System
نویسنده
چکیده
In order to realize good track keeping and roll reduction of the ship while navigating. A multiple input multiple output rudder-fin control system based on dynamic sliding mode algorithm is proposed. Rudder-fin joint system nonlinear mathematical model is established. Because the designed dynamic sliding mode controller makes sliding variables and the derivatives be zero, so it is essentially continuous and can eliminate traditional sliding mode’s chattering problem. Simulation results show that while keeping the command track angle the designed control system can make the average roll angle within ±2°and realize good stabilization effect.
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