@inproceedings{b7da40b9a8b94a188266449a1b1e7825,
title = "Fast terminal sliding mode control for the ship steering problem",
abstract = "In this paper we propose the application of a robust terminal sliding mode control with fast sliding surface to the ship control problem, which consists of leading the ship along the desired course via automatic changes in the rudder blade deflections. In spite of its robustness to system parameter variations and external disturbances, normal terminal sliding mode control (NTSMC) has a limitation of shattering the input rudder angle command particularly when the ship steering mechanism has a big time constant. Through comparative simulations, we show that the proposed controller with fast sliding surface outperforms NTSMC controller in reducing the chattering in the input signal and the initial swing of the rudder angle in the presence of external disturbances and model uncertainties.",
keywords = "Fast terminal sliding mode, Heading controller, Norbin ship model",
author = "Vweza, \{Alick O.\} and Lee, \{Deok Jin\} and Hong, \{Dong Pyo\} and Chong, \{Kil To\}",
year = "2013",
doi = "10.4028/www.scientific.net/AMM.433-435.1078",
language = "English",
isbn = "9783037858943",
series = "Applied Mechanics and Materials",
pages = "1078--1085",
booktitle = "Advances in Mechatronics and Control Engineering II",
note = "2013 2nd International Conference on Mechatronics and Control Engineering, ICMCE 2013 ; Conference date: 28-08-2013 Through 29-08-2013",
}