Multiple-sliding-mode robust adaptive design for ship course tracking control
船舶航向控制的多滑模鲁棒自适应设计

A new multiple sliding mode robust adaptive control algorithm is proposed for mismatched uncertain ship steering nonlinear mathematic model with unknown virtual control coefficient and constant parameter uncertainty. By employing radial based function neural network to approximate uncertain nonlinear system functions, and by combining multiple sliding mode control with recursive technique and Nussbaum gain approach, the algorithm can not only simplify the complexity of the controller and eliminate the need for a priori knowledge of the control gain sign to be known, but also overcome the possible controller singularity problem. Based on the Lyapunov function, the stability analysis shows that all closed loop signals are global uniformly ultimately bounded, with the tracking error converging to zero. Finally, simulation results are presented to show that the controller design has better effectiveness.