Differential Evolution Algorithm-Based Iterative Sliding Mode Control of Underactuated Ship Motion

Abstract

The differential evolution algorithm (DEA)-based iterative sliding mode control (ISMC) method was proposed for the path tracking problem of three-degree-of-freedom (3-DoF) underactuated ships under external interference, with the nonlinear separate model proposed by mathematical model group (MMG). To improve control quality and enhance robustness of the control system, a swarm intelligence optimization algorithm is used to design a controller parameter optimization system. The DEA was adopted in the system to solve the minimum system evaluation index function, and the optimal controller parameters are acquired. Considering the impact of chattering on the actual project, a chattering measurement function is defined in the controller design and used as an input of the controller parameter optimization system. Finally, the 5446TEU container ship is carried out for simulation. It is verified that the designed controller with strong robustness can effectively deal with the disturbances; meanwhile, the chattering of the output is significantly reduced, and the control rudder angle signal conforms to the actual operation requirements of the ship and is more in line with the engineering reality.