Sliding Mode and PID Controllers for Ship Roll Stabilisation: A Comparative Simulation Study
| Authors: | Koshkouei Ali, Coventry University, United Kingdom
Law Yannick, Coventry University, United Kingdom
Burnham Keith, Coventry University, United Kingdom |
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| Topic: | 7.2 Marine Systems |
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| Session: | Marine Systems II |
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| Keywords: | Ship control, Stabilization methods, Sliding mode control, PID controllers, Servomechanisms |
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Abstract
This paper addresses the sliding mode control design for roll reduction of a ship. The sliding mode control (SMC) technique yields the appropriate control with significant roll reduction compared with other controllers such as PID. The system comprises of three different controllers, roll-fin, roll-rudder and autopilot. Therefore, for each situation along the ship trajectory, the triple controllers should be designed. It is not necessary to have the same controller structure for all three subsystems. This paper compares SMC controllers individually with PID controllers for each subsystem, and demonstrates the results of the implementation of controllers with different structures when applied to the entire system.
