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Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control

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  • Fuguang Ding
  • Jing Wu
  • Yuanhui Wang

Abstract

The paper studied controlling problem of an underactuated surface vessel with unknown interferences. It proved that the control problem of underactuated surface vessel can be transformed into the stabilization analysis of two small subsystems. This controller was designed by backstepping method and adaptive sliding mode, was suitable for solving the problem of the control of higher systems, can keep the system global asymptotic stability, and can inhibit unknown interference, and boundary layer can weaken the buffeting generated by sliding mode. The unknown interference was estimated by adaptive function. Finally, the simulation results are given to demonstrate the effectiveness of the proposed control laws.

Suggested Citation

  • Fuguang Ding & Jing Wu & Yuanhui Wang, 2013. "Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-5, March.
    • Handle: RePEc:hin:jnlmpe:324954
    DOI: 10.1155/2013/324954
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