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J. KIMS Technol > Volume 20(1); 2017 > Article
Journal of the Korea Institute of Military Science and Technology 2017;20(1):108-118.
DOI: https://doi.org/10.9766/KIMST.2017.20.1.108   
Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law
JunKu Lee
The 6th Research and Development Institute, Agency for Defense Development
슬라이딩 모드 제어와 스위칭 기법에 기반한 수상함의 경로 추종 제어기 설계
이준구
국방과학연구소 제6기술연구본부
Abstract
In this paper, the path tracking controller for a surface vessel based on the sliding mode control (SMC) with the switching law is proposed. In order to have no restriction on movement and improved tracking performance, the proposed control system is developed as follows: First, the kinematic and dynamic models in Cartesian coordinates are considered to solve the singularity problem at the origin. Second, the new multiple sliding surfaces are designed with the SMC and approach angle concept to solve the under-actuated property. Third, the switching control system is designed to improve tracking performance. To prove the stability of the proposed switching system under the arbitrary switching, the Lyapunov stability analysis method with the common Lyapunov function is used. Finally, the computer simulations are performed to demonstrate the performance, effectiveness and stability of the proposed tracking controller of a surface vessel.
Key Words: Surface Vessel, Tracking Control, Sliding Mode Control, Switching Control System, Common Lyapunov Function
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