DESIGN FOR SHIP AUTOPILOT USING DISCRETE VSC ALGORITHM
【摘要】：正 The discrete variable structure control design for uncertain systems and its application to ship motion control are discussed in this paper. A new discrete reaching law, which is stable at the origin, is proposed. Also, an algorithm for uncertainty estimation is developed. Applying the proposed approach to ship motion control, a ship autopilot is designed. Simulation results show that the controller designed here can track a desired course well and exhibits very good performance robustness.