期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：3
DOI：10.1177/1729881417703568
语种：English
出版社：SAGE Publications
摘要：In this article, a sliding mode control scheme for the autopilot system of a ship is presented, which also incorporates actuator saturation. Under the designed controller, the actuator doesn’t enter its saturation mode. Meanwhile, the stability of the closed-loop system can be guaranteed for the ship with input saturation. Fuzzy logic is used to handle gain to avoid the chattering effect, and it is compared with saturation function. The control system for the mathematical model of a scale replica of an “Esso Osaka” tanker is simulated in time domain for the effectiveness of the controller. The simulation results show that the proposed controller is more efficient as compared to the traditional and saturation function methods.
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