Adaptive Finite-Time Backstepping Integral Sliding Mode Control of Three-Degree-of-Freedom Stabilized System for Ship Propulsion-Assisted Sail Based on the Inverse System Method

Abstract

The three-degree-of-freedom (3-DOF) stabilized control system for ship propulsion-assisted sails is used to control the 3-DOF motion of sails to obtain offshore wind energy. The attitude of the sail is adjusted to ensure optimal thrust along the target course. An adaptive finite-time backstepping integral sliding mode control based on the inverse system method (ABISMC-ISM) is presented for attitude tracking of the sail. Considering the nonlinear dynamics and strong coupling of the system, a decoupling strategy is established using the inverse system method (ISM). Constructing inverse dynamics to eliminate internal coupling, the system is transformed into independent pseudolinear subsystems. For the decoupled open-loop subsystems, an adaptive finite-time backstepping integral sliding mode control is designed to achieve closed-loop control. A backstepping-based integral sliding surface is proposed to eliminate the phase-reaching stage of the sliding surface. Considering the unmodelled dynamics and external disturbances, an adaptive extreme learning machine (AELM) was designed to estimate the disturbances. Furthermore, a sliding mode reaching law based on finite-time theory was employed to ensure that the system returns to the sliding surface in a finite time under chattering conditions. Experiments on a principle prototype demonstrate the effectiveness and energy-saving performance of the proposed method.

Keywords

• ship propulsion-assisted sail
• inverse system
• 3-DOF stabilized system
• decoupling control
• adaptive sliding mode control
• backstepping