A Ship's Automatic Maneuvering System Using Optimal Preview Sliding Mode Controller with Adaptation Mechanism. Issue 23 (2016)

• Record Type: Journal Article
• Authors: Mizuno, Naoki; Saka, Naoki; Katayama, Takuya
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 23(2016)
• Page Start: 576
• Page End: 581
• Publication Date: 2016
• Subjects: automatic maneuvering system -- sliding mode control -- optimal preview control -- adaptive control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.10.497
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we present an automatic ship's maneuvering system using optimal preview sliding mode controller with adaptation mechanism. In this system, the transient overshoot in conventional sliding mode control is reduced by introducing the optimal preview servo method. Moreover, the model based adaptation mechanism keeps the performance of control system for varying and uncertain ship's dynamics. In order to evaluate the performance of the proposed system, computer simulation and actual sea tests carried out using small training ship Shioji-Maru under various conditions. As a result, we can confirm that the control performance is improved under many experimental conditions by comparing with sliding mode based automatic maneuvering system which has been proposed by the authors.