Continuous Nonsingular Terminal Sliding Mode Speed Control based on Finite-time Exact Observer for Marine Diesel Engine

In this paper, a practical tracking control approach of the marine diesel engine is developed using an exact observer-based continuous nonsingular terminal sliding mode (CNSTM) control algorithm. The parameter uncertainties and the external disturbance of the marine engine system in modelling. A finite-time exact observer (FEO) is designed, by which the lumped uncertainty is accurately estimated in finite-time. By combining the observed information, a novel CNSTM speed controller is designed for the marine diesel engine, which features fast response, strong robustness and high accuracy. Especially the low-pass filter is introduced to realize free-chattering sliding mode (SM) control, and it is not necessary to obtain the differential information of state variables for the control law in practical application. Comparative simulations with the traditional second-order sliding mode (SOSM) control are presented to validate this paper.