Adaptive backstepping sliding mode controller design for dynamic positioning ship

A method of adaptive backstepping sliding mode controller design is presented for dynamic positioning ship with nonlinear mathematical model and external uncertain disturbances. Firstly, the position deviation and velocity error are proposed, and the virtual control vector of two subsystems are defined. Secondly, the sliding mode surface switch function is designed. Then, adaptive controller is designed combined with nonlinear mathematical model and system uncertain. Finally, the global asymptotic stability of the system is verified by Lyapunov stability theory. Simulation results verify that the controller is robust and adaptive to the external disturbances.

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