Adaptive Sliding Mode Control for Fin Stabilizer System Based on Cloud Model

Considering a series of problems such as the sea wave that acts on the ship is random when ship is sailing on the sea, there exists serious nonlinearity and uncertain factors in the ship roll motion, there is strong dependence on the mathematical model of the controlled object when designing the controller for fin stabilizer system. Aiming at solving the above problems, the paper designs the cloud-model adaptive sliding mode controller(SMC) for fin stabilizer system by combining the perfect approximation properties of cloud model and insensitive to disturbance as well as the object's variable parameters of sliding mode control. And simulations are carried out with long-crested random wave as disturbance under different sea conditions. The results show that the designed controller has high stabilizing efficiency, strong robustness and adaptive ability.