TY - JOUR ID - 45005 TI - Robust sliding mode control of uncertain nonlinear ‎ship autopilot system ‎ JO - Iranian Journal of Mechanical Engineering Transactions of the ISME JA - JMEE LA - en SN - 1605-9727 AU - Rashidi, Farzan AU - Harifi, Abbas AD - University of Hormozgan Y1 - 2020 PY - 2020 VL - 21 IS - 2 SP - EP - KW - Integral Switching Variable KW - nonlinear controller KW - Ship Autopilot KW - Sliding Mode Control.‎ DO - 10.30506/jmee.2020.118967.1220 N2 - 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.‎ UR - https://jmee.isme.ir/article_45005.html L1 - https://jmee.isme.ir/article_45005_aa6c79f8edce097ee80323de007b22d4.pdf ER -