Fractional order adaptive sliding mode control for nonlinear anti-roll of ship

FANG Qionglin

doi:10.19693/j.issn.1673-3185.02069

Volume 16 Issue 4

Aug. 2021

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Chinese Journal of Ship Research > 2021 > 16(4): 132-139. > DOI: 10.19693/j.issn.1673-3185.02069 CSTR: 32390.14.j.issn.1673-3185.02069

FANG Q L. Fractional order adaptive sliding mode control for nonlinear anti-roll of ship[J]. Chinese Journal of Ship Research, 2021, 16(4): 132–139. DOI: 10.19693/j.issn.1673-3185.02069

Citation:

FANG Q L. Fractional order adaptive sliding mode control for nonlinear anti-roll of ship[J]. Chinese Journal of Ship Research, 2021, 16(4): 132–139. DOI: 10.19693/j.issn.1673-3185.02069

Citation:

FANG Q L. Fractional order adaptive sliding mode control for nonlinear anti-roll of ship[J]. Chinese Journal of Ship Research, 2021, 16(4): 132–139. DOI: 10.19693/j.issn.1673-3185.02069

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Fractional order adaptive sliding mode control for nonlinear anti-roll of ship

FANG Qionglin^,

Institute of Navigation, Jimei University, Xiamen 361021, China

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Received Date: August 10, 2020
Revised Date: November 02, 2020
Available Online: March 12, 2021

This is an Open Access article distributed under the terms of the Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Graphical Abstract

Abstract

Abstract

Objectives In order to solve the problem of ship nonlinear rolling control, a fractional order adaptive sliding mode control (FOASMC) algorithm is proposed.
Methods First, the spectral density of random waves, spectral density of wave inclination and spectrum of waves acting on ships are calculated using a random wave model with long peak waves. The rolling angle tracking error of the system is then verified on the basis of Lyapunov stability theory. Moreover, the switching function is designed to make the system robust to uncertainties and external disturbances. Finally, the effects of fractional order, control law gain and sliding surface mode gain are analyzed.
Results The results show that the mean rolling angle and standard deviation of FOASMC are smaller than those of basic sliding mode control (SMC) for various speeds and wave directions. For example, when the ship's speed is 10 m/s and the encountering wave direction is five degrees, the average rolling angle is 25.89% of the basic SMC, and the mean square deviation is 14.32% of the basic SMC.
Conclusions It is proven that the proposed control algorithm has good stabilization effectiveness at various navigation speeds and encountering wave directions, as well as such advantages as strong robustness, continuous control input and no high gain.
- ship roll,
- sliding mode control,
- fractional order,
- adaptive control

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References (22)

References

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