Switching Surface Design for Nonlinear Systems: the Ship Dynamic Positioning

Diallo Thierno Mamadou Pathe, Hongsheng Li, Guangrong Bian

Abstract


In this paper a design of the switching-surface for the nonlinear system is studied. The aim was to prove that with the linear matrix inequality the coefficients of the sliding surface can be determined optimally for the control law structure. The advantages of the use of the linear matrix inequality reside in the accurate determination of the coefficients of the sliding surface. The sliding mode control for dynamic positioning of the ship with our proposed switching-surface is done. The objective of this control was to make sure that the ship follows a predetermined track. The good trackings are observed from the simulation results which confirm the robustness of the control law obtained by our proposed switching-surface.

 

DOI : http://dx.doi.org/10.11591/telkomnika.v12i4.4739


Keywords


Control, Sliding Mode, Switching-surface, LMI, Dynamic Positioning

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Indonesian Journal of Electrical Engineering and Computer Science (IJEECS)
p-ISSN: 2502-4752, e-ISSN: 2502-4760
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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