Ship Trajectory Tracking Control System Design Based on Sliding Mode Control Algorithm

Open access

Abstract

The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.

If the inline PDF is not rendering correctly, you can download the PDF file here.

  • 1. Tao Liu Zaopeng Dong Hongwagn Du. et al. (2017).Path following control of the underactuated USV based on the improved line-of-sight guidance algorithm. IEEE Polish Maritime Research. 1 (93)Vol. 24; pp. 3-11.

  • 2. Dong Z.P. Wan L. Liu T. et al. (2016).Horizontal-plane trajectory-tracking control of an unmanned maritime vehicle in the presence of ocean currents. International Journal of Advanced Robotic Systems 13: 83 1-14.

  • 3. Larrazabal J.M. Penas M.S.(2016). Intelligent rudder control of an unmanned surface vessel. Expert Systems with Applications 55: 106-117.

  • 4. H. Ashrafiuon K.R. Muske L.C. Mcninch (2010).Review of nonlinear tracking and set-point control approaches for autonomous under-actuated marine vehicles in: American Control Conference Baltimore USA IEEE pp. 5203–5211.

  • 5. W. Xie B. Ma (2015).Robust global uniform asymptotic stabilization of underactuated surface vessels with unknown model parameters Int. J. Robust Nonlinear Control 25:1037–1050.

  • 6. K.Y. Pettersen T.I. Fossen (2000).Underactuated dynamic positioning of a ship—experimental results IEEE Trans. Control Syst. Technol 8 (5) 863–891

  • 7. K.D. Do(2010). Practical control of underactuated ships Ocean Eng 37 (13) 1111–1119

  • 8. J. Ghommam M. Saad (2014).Backstepping-based cooperative and adaptive tracking control design for a group of underactuated AUVs in horizontal plan Int. J. Control 87 (5) 1076–1093.

  • 9. R. Yu Q. Zhu G. Xia Z. Liu (2012).Sliding mode tracking control of an underactuated surface vessel IET Control Theory Appl. 6 (3):461–466

  • 10. A.M. Lekkas T.I. Fossen (2014).Trajectory tracking and ocean current estimation for marine underactuated vehicles IEEE Conference on Control Applications IEEE Juan Les Antibes France pp. 905–910.

  • 11. M.E. Serrano G.J.E. Scaglia S.A. Godoy et al. (2014).Trajectory tracking of underactuated surface vessels: A linear algebra approach IEEE Trans. Control Syst. Technol 22 (3) 1103–1111.

  • 12. E. Lefeber K.Y. Pettersen H. Nijmeijer (2003).Tracking control of an underactuated ship IEEE Trans. Control Syst. Technol. 11 (1) 52–61.

  • 13. E. Peymani T.I. Fossen (2015).Path following of underwater robots using Lagrange multipliers Robotics Auton. Syst 67:44–52

  • 14. J. Pan K.D. Do (2006).Global robust adaptive path following of underactuated ships Automatica 42 :1713–1722.

  • 15. Mahmut Reyhanoglu Arjan van der Schaft N. Harris Mcclamroch Kolmanovsky. (1999). Dynamics and Control of a class of underactuated Mechanical Systems. IEEE Transactions on Automatic Control. Vol(44) No.9:1663 167l.

  • 16. Chwa D.(2011) Global tracking control of underactuated ships with input and velocity constraints using dynamic surface control method. IEEE Transactions on Control Systems Technology 191357-1370

  • 17. Huang J. Wen C. Wang W. et. al. (2015) Global stable tracking control of underactuated ships with input saturation. Systems & Control Letters 85 1-7.

  • 18. Li J.-H.(2016) Path tracking of und ships with general form of dynamics International Journal of Control 89 506-517.

  • 19. Shojaei K.(2015) Neural adaptive robust control of underactuated marine surface vehicles with input saturation. Applied Ocean Research 53267-278.

  • 20. GUO Chen WANG Yang SUN Fu-chun et. al. (2009). Survey for motion control of underactuated surface vessels. Control and Decision 24(03):321-329.

  • 21. Bu Ren-xiang LIU Zheng-jiang HU Jiang-qiang.(2007). Straight-path Tracking control of underactuated ships using dynamic nonlinear sliding. J Tsing Univ (Sci&Tech) 47(02):1880-1883.

  • 22. P. Encarnacao A. Pacoal and M. Arcak. (2000).Path following for autonomous marine craft. Proc. of the 5th IFAC Conf. on MCMC Aalborg Denmark pp.117-122.

  • 23. T. Temel H. Ashrafiuon. (2015).Sliding-mode speed controller for tracking of underactuated surface vessels with extended Kalman filter. ELECTRONICS LETTERS 19th51(06) :467–469.

  • 24. Zhang R Chen Y B Z Q Sun et. al. (1998). Path control of a surface ship in restricted waters using sliding model. Proc. of the 37th IEEE CDC FL pp. 3195-3200.

  • 25. Sahu B.K. Subudhi B. (2014). Adaptive tracking control of an autonomous underwater vehicle. Int. J. Autom. Comput. 11(3) 299–307

  • 26. Encarnacao P.; Pascoal A. (2001). Combined trajectory tracking and path following: an application to the coordinated control of autonomous marine craft Decision and Control. Proceedings of the 40th IEEE Conference. Vol.1:964–969.

  • 27. Do KD (2015). Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs).Journal of Marine Science and Application 14(1) 1-13.

  • 28. LI Tie-shan. (2005).Nonlinear Design on Straight-Trajectory-Keeping Control for ships. Da Lian Maritime University Da Lian China.

  • 29. Chen M Ge SS How VE et. al. (2013). Robust adaptive position mooring control for marine vessels. IEEE Transaction on Control Systems Technology; 21(2):395–409.

  • 30. Mou Chen Bing Jiang Rongxin Cui. (2016).Actuator fault-tolerant control of ocean surface vessels with input saturation[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL; 26:542–564.

  • 31. Cheng Liu Zao-jian Zou Tie-shan Li. (2015). Path following of underactuated surface vessels with fin roll reduction based on neural network and hierarchical sliding mode technique[J]. Neural Comput & Applic 26:1525–1535.

  • 32. S. Bououden M. Chadli H. R. Karimi.(2013).Fuzzy sliding mode controller design using Takagi-Sugeno modelled nonlinear systems. Mathematical Problems in Engineering. Vol. 2013 :1-7.

  • 33. LI Ronghui LI Tieshan BU Renxiang. (2013).Disturbance Decoupling Control Based Trajectory Tracking for Underactuated Ships. Proceedings of the 32nd Chinese Control Conference. July 26-28 Xi’an China:8108-8113.

  • 34. T. Li R. Li J. Li.(2012) Decentralized adaptive neural control of nonlinear systems with unknown time delays Nonlinear Dynamics 67(3): 2017-2026.

  • 35. Qian D Tong S Yi J (2013) Adaptive control based on incremental hierarchical sliding mode for overhead crane systems. Appl Math Inf Sci 7(4):1359–1364.

  • 36. Q. Yang Z. Yang Y. Sun. (2012). Universal neural network control of MIMO uncertain nonlinear systems. IEEE Transactions on Neural Networks. Vol. 23:1162–1169

  • 37. Cheng Liu Zaojian Zou Jianchuan Yin. (2015).Trajectory tracking of underactuated surface vessels based on neural network and hierarchical sliding mode. J Mar Sci Technol Vol 20:322–330.

  • 38. Bu Ren-Xiang; Liu Zheng-Jiang; Li Tie-Shan.(2007). Iterative sliding mode based increment feedback control and its application to ship autopilot. Journal of Harbin Engineering University 28:268-272.

Search
Journal information
Impact Factor

IMPACT FACTOR 2018: 1.214
5-year IMPACT FACTOR: 1.086

CiteScore 2018: 1.48

SCImago Journal Rank (SJR) 2018: 0.391
Source Normalized Impact per Paper (SNIP) 2018: 1.141

Cited By
Metrics
All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 282 160 23
PDF Downloads 295 167 18