Integral Sliding Mode and Integral Supertwisting Sliding Mode Control for Ship Course-Keeping
This paper proposes variable structure-based nonlinear control algorithms, including synergetic, terminal synergetic, integral sliding mode, and integral supertwisting sliding mode controllers, for ship course-keeping. The global asymptotic stability of the system is ensured using Lyapunov stability...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10836700/ |
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| author | Muhammad Munir Butt Azhar Iqbal Kashif Butt Iftikhar Ahmad |
| author_facet | Muhammad Munir Butt Azhar Iqbal Kashif Butt Iftikhar Ahmad |
| author_sort | Muhammad Munir Butt |
| collection | DOAJ |
| description | This paper proposes variable structure-based nonlinear control algorithms, including synergetic, terminal synergetic, integral sliding mode, and integral supertwisting sliding mode controllers, for ship course-keeping. The global asymptotic stability of the system is ensured using Lyapunov stability theory. Simulations are conducted using the Simulink toolbox in the MATLAB environment. The smoothness, energy consumption, and output response performances of the proposed controllers are evaluated to verify their effectiveness. Finally, a comparative analysis is presented to demonstrate the efficiency of the proposed controllers relative to each other and to existing controllers from the literature for ship course-keeping control. |
| format | Article |
| id | doaj-art-9370fbd3ebe8446cb6d6011e8a4c5330 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-9370fbd3ebe8446cb6d6011e8a4c53302025-01-21T00:01:28ZengIEEEIEEE Access2169-35362025-01-01139006901410.1109/ACCESS.2025.352812610836700Integral Sliding Mode and Integral Supertwisting Sliding Mode Control for Ship Course-KeepingMuhammad Munir Butt0Azhar Iqbal Kashif Butt1https://orcid.org/0000-0002-0846-1640Iftikhar Ahmad2https://orcid.org/0000-0002-2197-9890School of Interdisciplinary Engineering and Sciences (SINES), National University of Sciences and Technology (NUST), Islamabad, PakistanDepartment of Mathematics and Statistics, College of Science, King Faisal University, Al Ahsa, Saudi ArabiaSchool of Electrical Engineering and Computer Science (SEECS), National University of Sciences and Technology (NUST), Islamabad, PakistanThis paper proposes variable structure-based nonlinear control algorithms, including synergetic, terminal synergetic, integral sliding mode, and integral supertwisting sliding mode controllers, for ship course-keeping. The global asymptotic stability of the system is ensured using Lyapunov stability theory. Simulations are conducted using the Simulink toolbox in the MATLAB environment. The smoothness, energy consumption, and output response performances of the proposed controllers are evaluated to verify their effectiveness. Finally, a comparative analysis is presented to demonstrate the efficiency of the proposed controllers relative to each other and to existing controllers from the literature for ship course-keeping control.https://ieeexplore.ieee.org/document/10836700/Course-keeping controlintegral sliding mode controlintegral supertwisting sliding mode controlLyapunov stabilityshipssynergetic control |
| spellingShingle | Muhammad Munir Butt Azhar Iqbal Kashif Butt Iftikhar Ahmad Integral Sliding Mode and Integral Supertwisting Sliding Mode Control for Ship Course-Keeping IEEE Access Course-keeping control integral sliding mode control integral supertwisting sliding mode control Lyapunov stability ships synergetic control |
| title | Integral Sliding Mode and Integral Supertwisting Sliding Mode Control for Ship Course-Keeping |
| title_full | Integral Sliding Mode and Integral Supertwisting Sliding Mode Control for Ship Course-Keeping |
| title_fullStr | Integral Sliding Mode and Integral Supertwisting Sliding Mode Control for Ship Course-Keeping |
| title_full_unstemmed | Integral Sliding Mode and Integral Supertwisting Sliding Mode Control for Ship Course-Keeping |
| title_short | Integral Sliding Mode and Integral Supertwisting Sliding Mode Control for Ship Course-Keeping |
| title_sort | integral sliding mode and integral supertwisting sliding mode control for ship course keeping |
| topic | Course-keeping control integral sliding mode control integral supertwisting sliding mode control Lyapunov stability ships synergetic control |
| url | https://ieeexplore.ieee.org/document/10836700/ |
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