Abstract
This paper presents a controller design method of rudder angle servo systems for boats, which can utilize to obtain the maneuvering model of boats and to equip as one element of experimental setup for autopilot systems. A nonlinear feedback for hydraulic unit of rudder installation and the model following sliding mode control are applied to the proposed controller so as to show high robustness against the normal pressure of rudder, which changes according to navigation condition. As a means of reduction chattering due to the actuator dynamics, a switching input considered the characteristics of normal pressure is proposed. Finally, some numerical simulation results show the effectiveness of the proposed controller.
