Sliding Mode Based Inverse Model Control for Oil Tanker Guidance

Authors:	Loo Meghan, University of Glasgow, United Kingdom McGookin Euan W., University of Glasgow, United Kingdom Murray-Smith David J., University of Glasgow, United Kingdom
Topic:	7.2 Marine Systems
Session:	Marine Systems III
Keywords:	Ship Control; Inverse dynamics control; Sliding mode control

Abstract

An inverse model based controller application is presented in this paper. In this application, inverse model control is implemented as a feedforward controller with assistance from a feedback controller. A comparison of performance is deduced between the proposed combined control structure, and that of a conventional feedback controller on its own. The corrective and feedback controller are designed using sliding mode control theory in order to regulate the heading dynamic for a nonlinear tanker model. In order to provide a more realistic evaluation, wave disturbances are implemented to provide a better comparison for the proposed control structure.