【摘要】 针对船舶航迹非线性被控对象中的非线性环节,论述了如何通过两种线性化手段即局部线性化方法和模糊线性化方法,对船舶航迹控制的数学模型进行近似线性化。将两种方法的仿真结果进行比较,并在此基础上提出一种简明实用的滑模控制方案。结果表明,此方法是成功可行的,其控制规律对系统工作条件的变化具有较好的鲁棒性。更多还原

【Abstract】 The practical linearization and the fuzzy linearization approaches are introduced and applied to the mathematic model of the ship track-keeping nonlinear system.Based on the linearized models,two sliding mode controllers are designed.The simulation results prove the effectiveness of the designed controllers.更多还原