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Improved non-singular terminal sliding mode of ship heading control based on NESO
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Yu-fang CHANG1, Ao-li WANG1, Ya-ping XIA1, Huai-cheng YAN2, Wen-cong HUANG1
Journal of Ship Mechanics | 2025, 29(12) : 1895 - 1905
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Journal of Ship Mechanics | 2025, 29(12): 1895-1905
• Hydrodynamics •
Improved non-singular terminal sliding mode of ship heading control based on NESO
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Yu-fang CHANG1, Ao-li WANG1, Ya-ping XIA1, Huai-cheng YAN2, Wen-cong HUANG1
Affiliations
  • 1.School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan 430068, China
  • 2.School of Information Science and Engineering, East China University of Science and Technology, Shanghai 200237, China
Published: 2025-12-15 doi: 10.3969/j.issn.1007-7294.2025.12.007
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Aiming at the problem that the ship's course is easily disturbed by the external environment during navigation, an improved non-singular terminal sliding mode control strategy based on Nonlinear Extended State Observer (NESO) is proposed. Firstly, a nonlinear mathematical model of ship's heading system is established, and a nonlinear expanded state observer based on the hyperbolic tangent function is designed to estimate the external disturbances encountered during the ship's navigation and perform feedforward compensation. Then, based on the improved non-singular terminal sliding mode surface and the double power reaching law, an improved non-singular terminal sliding mode control law is designed, which reduces the chattering of the sliding mode control law and improves the convergence speed. The nonlinear extended state observer and the improved non-singular terminal sliding mode control law are combined to form a composite control law. Finally, the stability of the control law is analyzed based on Lyapunov stability theory. Simulation results show the proposed control strategy can effectively improve the tracking performance and robustness of the ship heading control system.

ship  /  ship heading control  /  non singular terminal sliding mode control  /  nonlinear extended state observer  /  robustness
Yu-fang CHANG, Ao-li WANG, Ya-ping XIA, Huai-cheng YAN, Wen-cong HUANG. Improved non-singular terminal sliding mode of ship heading control based on NESO[J]. Journal of Ship Mechanics, 2025 , 29 (12) : 1895 -1905 . DOI: 10.3969/j.issn.1007-7294.2025.12.007
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Year 2025 volume 29 Issue 12
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Article Info
doi: 10.3969/j.issn.1007-7294.2025.12.007
  • Receive Date：2025-06-18
  • Online Date：2026-07-07
  • Published：2025-12-15
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  • Received：2025-06-18
Affiliations
    1.School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan 430068, China
    2.School of Information Science and Engineering, East China University of Science and Technology, Shanghai 200237, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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