Nonlinear Non-minimum Phase Rudder-roll Damping System for Ships Using Sliding Mode Control
نویسنده
چکیده
A non-minimum phase nonlinear ship model from rudder to roll angle is used to design a stable controller for simultaneous roll damping and course keeping. The controller is stable in presence of 1st-order wave disturbance and modeling errors provided that the magnitude of the model error and disturbance are known. Stability is proved by using Lyapunov theory, and the simulation results showed excellent performance and robustness.
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