Document Type : Research Paper
University of Hormozgan
Designing of ship autopilot has been a challenging problem because of high nonlinearity of ship dynamics and various acting disturbances. Hence, In the last few years, many classical and intelligent algorithms are presented in the literature, for better control of ship autopilot. The main goal of the work is to design a proper and efficient controller for ship autopilot based on sliding mode control method. The major contribution of the paper is employing a nonlinear model as well as considering dynamic bounds of uncertainties for controller design. In order to reduce the chattering phenomenon, control scheme has been modified using integral switching variable. Simulation results in the rough wave condition show the success of method to overcome nonlinearity and disturbances, and high performance of the proposed controller comparing to similar research.