Command-Filtered Backstepping Integral Sliding Mode Control with Prescribed Performance for Ship Roll Stabilization

Abstract

In this paper, a novel, robust fin controller based on the backstepping control strategy and sliding mode control is proposed to handle the problem of ship roll stabilization. First, the mathematical model of the fin control system is established, including the modeling errors and the external disturbances generated by sea waves. In order to address the side effects caused by differential expansion, a command-filter is implemented within the backstepping controller design. By introducing a new performance function and a corresponding error transformation, the compensated tracking error can be bounded to achieve the desired prescribed dynamic and steady-state responses. The sliding mode disturbance rejection control with prescribed performance is realized by combining the disturbance observer. Simulations are presented to demonstrate the effectiveness of the proposed control scheme.