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Publications
Perera, L.P. and Guedes Soares, C. (2012), “A Nonlinear Control Approach for a Vessel Steering System”, Maritime Engineering and Technology, Guedes Soares et al. (Eds),Taylor & Francis Group, London, pp. 133-138
This paper proposes a nonlinear control approach for a vessel steering system. A nonlinear vessel steering system is derived considering the second order linear Nomoto model. The sliding mode approach is proposed as the nonlinear controller. The sliding mode controller is able to deal with parameter uncertainties and unmodeled dynamics, it quantifies the model response and the performance tradeoffs, and it rejects external disturbances in vessel steering. The stability conditions of the sliding mode controller are analyzed considering a Lyapunov candidate function. Finally, the proposed control algorithm is simulated and successful results are reported for a nonlinear vessel steering system in this study.
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