C26 船舶の針路制御に対するモデル追従型スライディングモード制御(OS13-2 一般-2)

概要

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This paper presents a model following sliding mode controller for autopilots of ships. Designed to be robust against modeling errors due to the nonlinear characteristics of ships, the proposed controller could lead a desired transition response at altering course. The proposed controller could saturate the yawing velocity since the reference model of the controller has saturation characteristics of reference yawing velocity. As a result, the saturation characteristics could restrain rolling angle of ships. Finally, numerical simulation results for nonlinear container model illustrate the effectiveness of the controller. Compared with PD-controller, the proposed method could realize the highly robustness against modeling errors.
一般社団法人日本機械学会の論文
2005-08-22