文献类型：会议论文

英文题名：Design of Ship Heading Autopilot with Input Time-Delay

作者：Wu, Jinrun[1];Li, Ronghui[1,2];Chu, Xinyu[1];Li, Tieshan[1]

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

会议论文集：9th International Conference on Information Science and Technology (ICIST)

会议日期：AUG 02-05, 2019

会议地点：Hulunbuir, PEOPLES R CHINA

语种：英文

外文关键词：autopilot; ship heading control; input time-delay; sliding mode control

外文摘要：The autopilot is an important part of ocean vessels, which not only can effectively reduce the working strength of the helmsman, but also play a key role in the safe navigation. However, the control effect of the controller is not ideal and the system is even unstable because of the time-delay caused by signal processing, transmission and mechanical movement. The non-singular linear transformation is used to transform the system into a system without input delay in this paper. Then, the controller is designed by Lyapunov-Krasovskii function and sliding mode variable structure control. The simulation results show that the algorithm has a good performance for the ship heading system with input time-delay.