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Differential Evolution Algorithm-Based Iterative Sliding Mode Control of Underactuated Ship Motion.

Huaran Yan1, Yingjie Xiao1, Qinrong Li1,2

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Summary
This summary is machine-generated.

A new iterative sliding mode control (ISMC) method uses differential evolution algorithm (DEA) for ship path tracking. This robust controller minimizes disturbances and reduces control signal chattering for realistic engineering applications.

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Area of Science:

  • Naval Architecture and Marine Engineering
  • Control Systems Engineering
  • Computational Intelligence

Background:

  • Underactuated ships face complex path tracking challenges due to external disturbances.
  • Existing control methods may lack robustness or produce undesirable control signal oscillations (chattering).
  • The Mathematical Model Group (MMG) nonlinear separate model is a standard for ship dynamics.

Purpose of the Study:

  • To develop a robust iterative sliding mode control (ISMC) strategy for three-degree-of-freedom (3-DoF) underactuated ships.
  • To optimize controller parameters using swarm intelligence for improved control quality and robustness.
  • To mitigate the chattering phenomenon in the control output for practical implementation.

Main Methods:

  • Proposed a differential evolution algorithm (DEA)-based ISMC controller for underactuated ship path tracking.
  • Integrated a swarm intelligence optimization system to tune controller parameters by minimizing a system evaluation index.
  • Incorporated a chattering measurement function into the optimization process to address practical engineering concerns.
  • Simulated the controller's performance on a 5446TEU container ship model.

Main Results:

  • The DEA-optimized ISMC controller demonstrated strong robustness against external disturbances.
  • Significant reduction in output chattering was achieved, improving control signal quality.
  • The controller effectively managed path tracking for the underactuated ship model.
  • The resulting control rudder angle signals were realistic and aligned with operational requirements.

Conclusions:

  • The proposed DEA-based ISMC method provides an effective and robust solution for underactuated ship path tracking.
  • The optimization approach successfully reduced control signal chattering, enhancing practical applicability.
  • The controller's performance validates its suitability for real-world maritime engineering scenarios.