Sliding-mode control of path following for underactuated ships based on high gain observer

Abstract

A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters. In the controller design, a high-gain observer is used to estimate velocities, thus only position and yaw angle measurements are required. The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight (LOS) guidance law. A sliding-mode controller is designed to eliminate the yaw angle error, and provide the control system robustness. The control law is proved semi-globally exponentially stable (SGES) by applying Lyapunov stability theory, and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.

Keywords

underactuated ship / path following / sliding-mode control / line-of-sight guidance / high gain observer

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