TRACKING CONTROL BASED ON ROBUST CONTROLLER FOR SURFACE VESSEL

Abstract

In this paper, a cascade control structure combined with a nonlinear disturbance filter will be introduced to deal with the uncertainties in the surface vessel model. The transformation of the mathematical model helps to reduce the dependence on the model when designing algorithms based on backstepping techniques and disturbance filter. The stability of the controller for the surface vessel model is considered. The simulation results demonstrate the efficiency of the proposed controller and compare it with a regular sliding mode controller.