【摘要】 本文根据船舶操纵系统的具体特点，为限制水域中的船舶操纵提供了一种变结构控制方案，同时考虑了航向纠编和航迹调整。根据一种特定航道设计的变结构控制系统可适用于一定范围内的其他航道内的船舶操纵，且控制精度高，无抖振发生。更多还原

【Abstract】 variable structure control scheme dealing with ship steering in restricted .vaters is presented in this paper according to the concrete character of ship steering system, where course regulation and path adjustment are considered simultanously. The variable structure control system designed by the ship’s manoeuvring performance in a certain channel can be fit for ship steering in other channels in certain range, and high control accuracy is obtained without chattering.更多还原