@article { author = {Rashidi, Farzan and Harifi, Abbas}, title = {Robust sliding mode control of uncertain nonlinear ‎ship autopilot system ‎}, journal = {Iranian Journal of Mechanical Engineering Transactions of the ISME}, volume = {21}, number = {2}, pages = {-}, year = {2020}, publisher = {Iranian Society of Mechanical Engineering}, issn = {1605-9727}, eissn = {}, doi = {10.30506/jmee.2020.118967.1220}, abstract = {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.‎}, keywords = {Integral Switching Variable,nonlinear controller,Ship Autopilot,Sliding Mode Control.‎}, url = {https://jmee.isme.ir/article_45005.html}, eprint = {https://jmee.isme.ir/article_45005_aa6c79f8edce097ee80323de007b22d4.pdf} }