Trajectory tracking control of air cushion vessel based on sliding mode control

A new adaptive sliding mode indirect control system is proposed for trajectory tracking control of air cushion vessel (ACV). The two parts of the control system are tracking guidance control and course control. Fuzzy sliding mode control is used to design the tracking guidance control. Fuzzy logic is employed to output command course which eliminate the error of track. The course control firstly combine sliding mode theories, tracking differentiator (TD) and extended state observer (ESO). Using TD arrange transition process to optimize command course and obtain the differential of the command course. ESO is adopted to observe the system states, uncertainty of ACV and external disturbances. Sliding mode controller is designed to make the error of course convergence to zero with ESO. So an adaptive sliding mode control is proposed. The feasibility and effect of the proposed approach is demonstrated with trajectory tracking simulation of ACV.