Frequency-Shaped Sliding Mode Control for Rudder Roll Damping System of Robotic Boat

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概要

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• In this paper, a robotic boat model of combined yaw and roll rate is obtained by a system identification approach. The identified system is designed with frequency-shaped sliding mode control. The control scheme is composed of a sliding mode observer and a sliding mode controller. The stability and reachability of the switching function are proved by Lyapunov theory. Computer simulations and experiment carried out at INAGE offshore show that successful course keeping and roll reduction results are achieved.

著者

• NONAMI Kenzo

  Graduate School of Engineering Chiba University

• BAO Xinping

  Graduate School of Engineering, Chiba University

• YU Zhenyu

  Graduate School of Engineering, Chiba University

• YU Zhenyu

  Graduate School of Engineering,Chiba University

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