Sliding Mode Control for Fin Stabilizer System of Marine Vessels with PID Sliding Surface

In this paper, a robust controller of ship nonlinear fin stabilizer system based on sliding mode control (SMC) with PID sliding surface is proposed. SMC is an effective method to increase the performance of the control system with a robust controller which is used to reduce the ship roll motion to the lowest level. However, one of the constraints with SMC is the phenomenon of oscillation around the sliding surface when the amplitude of the control law varies greatly. To overcome this problem, a robust SMC with PID sliding surface is applied to a nonlinear system with time-varying parameters and external disturbances. Lyapunov stability theory is used to analyze the stability of the system. In order to verify the effectiveness of the controller, a nonlinear model of ship fin stabilizer system is used in the simulation model, and emphasize the robust effect of the method.