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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 324954, 5 pages
http://dx.doi.org/10.1155/2013/324954
Research Article

Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control

Automation College, Harbin Engineering University, Harbin 150001, China

Received 15 November 2012; Accepted 10 February 2013

Academic Editor: Tsung-Chih Lin

Copyright © 2013 Fuguang Ding et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

The paper studied controlling problem of an underactuated surface vessel with unknown interferences. It proved that the control problem of underactuated surface vessel can be transformed into the stabilization analysis of two small subsystems. This controller was designed by backstepping method and adaptive sliding mode, was suitable for solving the problem of the control of higher systems, can keep the system global asymptotic stability, and can inhibit unknown interference, and boundary layer can weaken the buffeting generated by sliding mode. The unknown interference was estimated by adaptive function. Finally, the simulation results are given to demonstrate the effectiveness of the proposed control laws.