[논문]Adaptive Sliding Mode Control Synthesis of Maritime Autonomous Surface Ship

Lee, Sang-Do; Xu, Xiao; Kim, Hwan-Seong; You, Sam-Sang

doi:10.7837/kosomes.2019.25.3.306

Adaptive Sliding Mode Control Synthesis of Maritime Autonomous Surface Ship 원문보기

海洋環境安全學會誌 = Journal of the Korean society of marine environment & safety, v.25 no.3, 2019년, pp.306 - 312

Lee, Sang-Do (Korea e-Navi Information Technology Co. LTD.) , Xu, Xiao (Department of Logistics Engineering, Korea Maritime and Ocean University) , Kim, Hwan-Seong (Department of Logistics Engineering, Korea Maritime and Ocean University) , You, Sam-Sang (Division of Mechanical Engineering, Korea Maritime and Ocean University)

Abstract ▼ AI-Helper

This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.

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문제 정의

Severe step inputs are taken into account to ensure control performance. The contribution of this work is to present chattering mitigation as well as non-estimating control gains.
This paper investigated the effectiveness of SMC with ASTA for MASS in external disturbances. Controlled surge and yaw motion are exhibited with some simulation results for a real ship model.

가설 설정

to zero in finite time in the presence of the bounded perturbation with the unknown boundaries using continuous control. The idea of designing ASTA is to dynamically increase the control gains until the 2-sliding mode establishes. Any initial conditions, the sliding surface will be reached in finite time using STA control with the following adaptive gains (Shtessel et al.

제안 방법

In this paper, ASTA was implemented to produce high performance in controlling surge and yaw motion for MASS. A input-output feedback linearization method is employed for multi-input multi-output (MIMO) system.

대상 데이터

3. Model ship (Patrol Boat of Australian Customs). Picture courtesy of Austal, Australia.
3). The ship has a single rudder and a single propeller. Table 1 shows added mass and damping matrices calculated by the commercial program (MARINTEK) (Do et al.
The specification of a model ship is given in Table 1. This ship is a patrol boat owned by Australian Customs service (Fig. 3). The ship has a single rudder and a single propeller.

성능/효과

Finally, it was found that adaptive mechanism based on STA successfully contributed to chattering reduction, non-estimating control gain and high performance against the severe disturbances. ASTA is an effective method for ship control in the ocean since it can reduce the chattering of actuators.

참고문헌 (13)

Davila, A., J. Moreno and L. Fridman(2010), Variable Gains Super-Twisting Algorithm: A Lyapunov Based Design, Proceedings of American Control Conference, Baltimore, MD, USA, pp. 968-973.
Do, K. D., Z. P. Jiang and J. Pan(2004), Robust Adaptive Path Following of Underactuated Ships, Automatica, Vol. 40, pp. 929-944.

상세보기
Do, K. D. and J. Pan(2009), Control of Ships and Underwater Vehicles, Design for Underactuated and Nonlinear Marine Systems, Springer-Verlag London Limited, pp. 52-56.
Edwards, C. and Y. B. Shtessel(2016), Adaptive Continuous Higher Order Sliding Mode Control, Automatica, Vol. 65, pp. 183-190.

상세보기
Fossen, T. I.(2011), Handbook of Marine Craft Hydro dynamics and Motion Control, First Edition, John Wiley & Sons Ltd. pp. 133-136.
Han, Y. and W. Pan(2016), Gain-scheduled Continuous High order Sliding Mode Control for Uncertain Nonlinear System, Optik, Vol. 127, pp. 4345-4354.

상세보기
Lee, H. and V. I. Utkin(2007), Chattering Suppression Methods in Sliding Mode Control Systems, Annual Reviews in Control, Vol. 31, pp. 179-185.

상세보기
Lee, S. D., B. K. Lee and S. S. You(2018), Sliding Mode Control with Super-Twisting Algorithm for Surge Oscillation of Mooring Vessel System, Journal of the Korean Society of Marine Environment & Safety, Vol. 24, No. 7. pp. 953-959.

원문보기 상세보기
Li, J. H., P. M. Lee, B. H. Jun and Y. K. Lim(2008), Point-to-point Navigation of Underactuated Ships, Automatica, Vol. 44. pp. 3201-3205.

상세보기
Plestan, F., Y. Shtessel, V. Bregeault and A. Poznyak(2010), New Methodologies for Adaptive Sliding Mode Control, International Journal of Control, Vol. 83, pp. 1907-1919.

상세보기
Shtessel, Y., M. Taleb and F. Plestan(2012), A Novel Adaptive-gain Super-twisting Sliding Mode Controller: Methodology and Application, Automatica, Vol. 48, pp. 759-769.

상세보기
Shtessel, Y., J. A. Moreno and L. M. Fridman(2017), Twisting Sliding Mode Control with Adaptation: Lyapunov Design, Methodology and Application, Automatica, Vol. 75, pp. 229-235.

상세보기
Yi-geng, H.(2010), Research of Nonlinear System High Order Sliding Mode Control and its Applications for PMSM, Ph.D. Dissertation, pp. 65-70.

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Adaptive Sliding Mode Control Synthesis of Maritime Autonomous Surface Ship 원문보기

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Adaptive Sliding Mode Control Synthesis of Maritime Autonomous Surface Ship 원문보기

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