【摘要】 针对带参数不确定性,未知有界扰动及未建模动态的船舶航向跟踪控制问题,本文介绍了一种鲁棒自适应算法。此算法能保证系统的全局稳定,使闭环系统的所有变量一致有界。并通过仿真对两种算法进行比较,可以看出,依照本文算法设计的控制器具有很好的鲁棒性。更多还原

【Abstract】 A robust adaptive control scheme is introduced for ship course-tracking control with parameter uncertainty, unknown bounded disturbance and unmodeled dynamics. The scheme guarantees that system is stable and all the variables of the closed-loop system are bounded. Two control schemes are compared through simulation. The simulation results show that the designed controller by the scheme in this note is applied to the ship course-tracking with good robustness.更多还原