【作者】 刘雨； 郭晨； 吕进；

【Author】 LIU Yu,GUO Chen,Lü Jin(School of Automation and Electrical Engineering,Dalian Maritime University,Dalian 116026,China)

【机构】 大连海事大学自动化与电气工程学院；

【摘要】 考虑船舶操纵舵机伺服机构特性下的船舶航向控制,构成一个参数未知和虚拟控制系数未知的非匹配不确定非线性控制问题。基于backsteping方法结合调节函数自适应方法与变结构滑模控制设计出船舶航向控制器,借助Lyapunov函数证明了所设计控制器使得最终闭环非匹配不确定船舶非线性控制系统中的所有信号有界并一致稳定。基于Matlab的仿真实验证明,系统的实际航向自适应地跟踪设定航向,控制器具有良好的动静态特性和鲁棒性。更多还原

【Abstract】 Considering the characteristic of rudder,the maneuvers of the ship were described by unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and unknown parameters.In order to compensate the uncertainties in ship course control,a nonlinear adaptive controller based on backstepping algorithm,adaptive tuning function and sliding mode control algorithm was proposed in this paper.By means of Lyapunov function,it was theoretically proven that the proposed controller makes all signals of resulting closed-loop system uniformly bounded and stabilized.In the results of Matlab simulation,the set heading can be adaptively followed by actual heading output of the controlled uncertain ship motion nonlinear system,which shows that the designed controller possesses the advantages of good transient performance,static performance and robustness to uncertainties for the tracking of periodic reference trajectories.更多还原