文献类型：会议论文

英文题名：Nonlinear sliding mode control for ships path following using neural-network approximation

作者：Chu Xinyu[1];Bu Renxiang[1];Li Ronghui[2];Li Zongxuan[1]

机构：[1]Dalian Maritime Univ, Nav Coll, Dalian, Peoples R China;[2]Guangdong Ocean Univ, Maritime Coll, Zhanjiang 524088, Peoples R China

会议论文集：35th Youth Academic Annual Conference of Chinese-Association-of-Automation (YAC)

会议日期：OCT 16-18, 2020

会议地点：Zhanjiang, PEOPLES R CHINA

语种：英文

外文关键词：path following; sliding mode control; neural network; nonlinear disturbance observer

外文摘要：This paper presents a nonlinear sliding mode control algorithm for the path following of the underactuated ships in presence of the uncertain parameters and unknown external disturbances. Firstly, the path following control is transformed into the heading control by the nonlinear sliding mode method, and the unknown lateral drift part is estimated by a nonlinear disturbance observer. Then, the heading control law is proposed by the nonlinear sliding mode and the radial basis function (RBF) neural networks, which could be employed to approximate the uncertain parameters or external disturbances. In the proposed algorithm, the ship could coverage to the desired path well and the unknown lateral drift part could be observed. Finally, the effectiveness and the robustness of the proposed algorithm have been verified through the numerical simulation.