Fuzzy Sliding Mode Control for Ship Roll Stabilization
نویسندگان
چکیده
A fuzzy sliding mode controller is proposed in this study for ship roll stabilization. Ship dynamic models usually contain large uncertainty. Sliding mode control is well known for its good robustness to large uncertainty. However, the required uncertainty bound is usually difficult to estimate. A fuzzy logic is designed here for the upper bound estimation of the uncertainty coming mostly from the wave excitation. As a result, the uncertainty-related parameters in the sliding mode controller are automatically tuned by fuzzy logic according to the encountered wave amplitude. The present controller has the advantage that smaller control efforts are required for the anti-capsizing purpose under the same sea states. A numerical example is investigated to confirm the analysis.
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