Abstract
This paper presents a sliding mode controller of boat rudder angle servo systems. The integral sliding mode control theory is applied to the proposed controller so as to have high robustness against the normal pressure of the rudder, which is regarded as an unknown disturbance. With the twisting algorithm and the describing function method, a new switching input of the sliding mode controller is designed in order to lead the switching function to a limit cycle. As a result, the chattering could be improved by the relatively smooth control input.
