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Research on Roll/Heading Joint Control of VSP Propulsion Vessel Based on Adaptive Backstepping Sliding Mode

Based on VSP (Voith Schneider Propellers) propulsion vessel, the research is conducted on joint roll/heading control. Firstly, the nonlinear mathematical model of the movement of the four degrees of freedom (pitch, sway, roll and yaw) motion of the VSP propulsion ship is established, and secondly, the VSP propulsion ship roll/heading joint controller based on the backstepping sliding mode control (BPSMC) is designed for the ship motion system with nonlinear, strong coupling and multivariate characteristics, and the adaptive law is designed to estimate the uncertainties when the upper bound of the wave disturbance is unknown and the model parameters are uncertainty, and finally, The stability of the control system is proved by constructing the Lyapunov function. Simulation results under different sea states show that the designed controller has achieved good roll reduction effect and good robustness while ensuring the accuracy of heading control.