SLIDING MODE BASED INVERSE MODEL CONTROL FOR OIL TANKER GUIDANCE

摘要

An inverse model based controller application is presented in this paper. In this application, inverse model control is implemented as a feedforward controller with assistance from a feedback controller. A comparison of performance is deduced between the proposed combined control structure, and that of a conventional feedback controller on its own. The corrective and feedback controller are designed using sliding mode control theory in order to regulate the heading dynamic for a nonlinear tanker model. In order to provide a more realistic evaluation, wave disturbances are implemented to provide a better comparison for the proposed control structure.