SLIDING MODE PREDICTION-BASED DISCRETE VARIABLE STRUCTURE CONTROL AND ITS APPLICATION TO SHIP AUTOPILOT
SONG Li-zhong, LI Hong-jiang, CHEN Shao-chang (Department of Electrical Engineering, Naval University of Engineering, Wuhan 430033, China)
This paper presents a new approach to the variable structure control design for uncertain discrete-time systems based on the "sliding mode prediction" algorithm proposed here. The algorithm uses a nominal model to predict future sliding mode value, conducts receding optimization, makes feedback correction, and uses a ideal reaching law being the reference sliding mode trajectory. The new method is applied to the ship steering autopilot design. Simulation results show that the controller designed here can track a desired course well, eliminate chattering effectively and exhibit very good performance robustness.