Backstepping Sliding Mode Maneuvering Control for a Class of Surface Ships

This paper investigates the maneuvering problem for a class of surface ships in the presence of wave disturbance. The maneuvering problem involves the geometric task and the speed assignment along the path. In order to solve the maneuvering problem, a backstepping sliding mode controller are designed under the wave influence. By establishing the conversing law between the thrust and propeller rotational speed, the rotational speed and rudder angle are taken as the controller output signal. Simulation results verify the controller is valid.