A STUDY ON AN AUTOMATIC SHIP BERTHING USING ADAPTIVE FAULT-TOLERANT SLIDING MODE CONTROLLER WITH ACTUATORS FAULTS

Abstract

This paper addresses the problem of automatic ship berthing subject to actuator faults and external disturbances. Sliding mode control is used as a core controller, providing robust features for the auto-berthing control system. Two adaptive reaching signals are designed in control signal to compensate the effect of external disturbance and effect of actuator faults. The effectiveness of proposed controller is proved by numerical simulations.