关键词: 船舶姿态运动系统, 舵减摇, 非最小相位系统, 滑模控制

Abstract: A non-minimum phase nonlinear ship model is established, which is based on the sliding mode control method. It is assumed that the magnitude and disturbance of the error of the model are known, and the sliding mode controller is designed to control the stability of the first order wave disturbance. Based on Lyapunov stability theory, the stability of the whole closed-loop system can be proved. The simulation results verify the excellent tracking performance and robustness of the designed controller.

Key words: ship attitude motion system, ruder-roll stability, non-minimum phase system, sliding mode control