HIERARCHICAL SLIDING MODE ADAPTIVE CONTROL USING LUENBERGER NEURAL OBSERVER

Abstract

This paper presents the design of a controller for a surface ship moving on
water (USV), belonging to the MIMO objects class that lacks an actuator with a
nonlinear model and uncertainty, noise model. An improved neural observer for
the Luenberger observer used Hierarchical Sliding Mode Control (HSMC) for USV
is introduced. The controller ensures to control the position and angle of the train
according to the desired trajectory. The stability of the closed system is proven by
the Lyapunov Stability Theory. The proposed algorithms are implemented in a
synthetic simulation environment with the assumption of interference from
waves, wind, flow and the obtained results demonstrate the effectiveness of the
controller.