【摘要】 研究了船舶直线航迹控制问题.基于Lyapunov稳定性理论,将Nussbaum增益技术融入Backstepping设计方法之中,利用模糊系统逼近系统中的未知非线性,提出一种鲁棒自适应模糊控制算法.该算法保证了闭环系统的信号是一致最终有界的,使得系统输出收敛到零的一个较小邻域,从而能够实现船舶的直线航迹控制;而且,该算法不需要高频增益符号的任何信息,还解决了可能存在的控制器奇异值问题.计算机仿真结果验证了控制器的有效性.更多还原

【Abstract】 The problem of ship linear path-keeping control is discussed.With the help of Lyapunov stability theory,Combined Nussbaum gain with the backstepping techniques,a novel algorithm is then proposed by employing fuzzy systems as approximator of those unknown nonlinearities in the system.It is also proved that the proposed algorithm could guarantee the closed-loop system to be uniformly ultimately bounded and the output converges to a small neighborhood of zero,so that ship linear path-keeping control can be implemented.Finally,simulation results are presented to validate the effectiveness.更多还原