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XUE Han, SHAO Zhe-ping, PAN Jia-cai, FANG Qiong-lin. Sliding mode control for ship dynamic positioning based on linear matrix inequality[J]. Journal of Traffic and Transportation Engineering, 2018, 18(5): 119-129. doi: 10.19818/j.cnki.1671-1637.2018.05.012
Citation: XUE Han, SHAO Zhe-ping, PAN Jia-cai, FANG Qiong-lin. Sliding mode control for ship dynamic positioning based on linear matrix inequality[J]. Journal of Traffic and Transportation Engineering, 2018, 18(5): 119-129. doi: 10.19818/j.cnki.1671-1637.2018.05.012
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Sliding mode control for ship dynamic positioning based on linear matrix inequality

doi: 10.19818/j.cnki.1671-1637.2018.05.012

  • School of Navigation, Jimei University, Xiamen 361021, Fujian, China

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  • Author Bio:

    XUE Han(1982-), female, lecturer, PhD, imlmd@163.com

  • Received Date: 2018-03-07
  • Publish Date: 2018-10-25
    Abstract
  • In order to solve the control problem of ship dynamic positioning systems with nonlinear and environmental disturbances, a sliding mode control algorithm based on the linear matrix inequality (LMI) was proposed.The tracking error was designed as a sliding mode function, and a linear matrix inequality was designed to solve the state feedback gain.Based on the quadratic Lyapunov function, the stability of the closed-loop system was proved.The switching function was designed to make the system robust to uncertainties and external disturbances and to avoid chattering.The sliding mode controller based on the LMI was simulated, and the forward speed, sway speed, heading angular speed, forward acceleration, sway acceleration, heading angular acceleration, forward control force, sway control force, and heading control moment of a dynamic-positioning ship were calculated under two different conditions, namely, uniform motion without disturbance and variable-speed motion with external environment disturbance.The effects of parameters such as the linear matrix of state feedbackgain, boundary layer, and switching gain on control performance were analyzed and compared.Analysis result indicates that it takes 29 sfor the forward speed to reach the expected value by using the basic sliding mode control, whereas the new algorithm saves 48.28% at 15 s.It takes24 sfor the sway speed to reach the expected value by using the basic sliding mode control, whereas the new algorithm saves 41.67%at 14 s.It takes 13 sfor the heading angular speed to reach the expected value by using the basic sliding mode control, whereas the new algorithm saves 23.08%at 10 s.Thus, the designed controller has strong robustness for the ship dynamic positioning system with nonlinear and environmental disturbances, and has the characteristics of continuous control input, no control chattering, and no high gain.

     

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