【摘要】 由于帆船具有非常严重的非线性和非最小相位特性 ,因而帆船用自动舵设计起来很困难。在处理这类问题上 ,H∞ 控制器是一个强有力的工具。但在这个方法中 ,由于指标的相互矛盾 ,选定灵敏度函数和补灵敏度函数是实际应用的难点 ,而前馈控制可以有效地解决这个问题。为此 ,在前馈控制设计中引入了镜像映射的方法来消除非最小相位的影响更多还原

【Abstract】 The autopilot for a yacht is difficulty to design due to its serious nonlinear and non minimum phase characteristics. The H ∞ control is a powerful control tool to deal with this problem. Specified the sensitivity and complementary sensitivity functions are a major difficult point in this method because the conflict of the targets. Feedforward control can solve this problem effectively. This paper introduces a mirror rejection method in feedforward control design to eliminate the influence of non minimum phase.更多还原