Sliding Mode Control for Fin Stabilizer System of Marine Vessels with PID Sliding Surface In this paper, a robust controller of ship nonlinear fin stabilizer system based on sliding mode control (SMC) with PID sliding surface is proposed. SMC is an effective method to increase the performance of the control system with a robust controller which is used to reduce the ship roll motion to the lowest level. However, one of the constraints with SMC is the phenomenon of oscillation around the sliding surface when the amplitude of the control law varies greatly. To overcome this problem, a robust SMC with PID sliding surface is applied to a nonlinear system with timevarying parameters and external disturbances. Lyapunov stability theory is used to analyze the stability of the system. In order to verify the effectiveness of the controller, a nonlinear model of ship fin stabilizer system is used in the simulation model, and emphasize the robust effect of the method.

SMC for semiMarkov jump TS fuzzy systems with time delay Abstract   This paper investigates the issue of robust stabilization for delayed semiMarkov jump TS fuzzy systems via sliding mode control (SMC). In order to reduce some conservativeness, an integral sliding mode surface (ISMS) is designed without assumption that the input matrices are platrule independent with full column rank, which is one of the critical factors for system performance. Based on Lyapunov functional theory, sufficient condition is provided for stochastic stability of the closedloop system, and then extended to the case where the input matrices are independent of plantrule. In addition, a fuzzy SMC controller is established to guarantee the finite time reachability of the predetermined fuzzy manifold. Finally, the superiorities of the proposed method are validated by a singlelink robot arm model.