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Han Yao zhen
Shandong Jiaotong University

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Dynamic Sliding Mode Control of Ship Rudder-fin Joint Nonlinear System Han Yao zhen
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 7: July 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v12.i7.pp5275-5283

Abstract

In order to realize good track keeping and roll reduction of the ship while navigating. A multiple input multiple output rudder-fin control system based on dynamic sliding mode algorithm is proposed. Rudder-fin joint system nonlinear mathematical model is established. Because the designed sliding mode controller makes sliding variables and the derivatives be zero, so it is essentially continous and overcomes traditional sliding mode chattering problem. Simulation results show that while keeping the command  track angle the designed control system can make the average roll angle about ±2°and realize good stabilization effect.
RBFNN Variable Structure Controller for MIMO System and Application to Ship Rudder/Fin Joint Control Han Yao Zhen; Hairong Xiao
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 12: December 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v12.i12.pp8166-8174

Abstract

Aiming at a class of multiple-input multiple-output (MIMO) system with uncertainty, a sliding mode control algorithm based on neural network disturbance observer is designed and applied to ship yaw and roll joint stabilization. The nonlinear disturbance observer is finished by radial basis function neural network and with that a terminal sliding mode control algorithm is proposed. The asymptotic stability of closed-loop system is proved based on Lyapunov theorem. The proposed control law is applied to anti-roll control under simulative wave disturbances. Simulation results verified robustness and effectiveness of the suggested algorithm. A good anti-rolling effect is achieved and yaw angle is also reduced greatly with less mechanical loss.
Co-Authors Hairong Xiao