【摘要】 主要介绍适用于船舶航线保持自动控制系统的自校正控制算法，由于选择了具有偏航距离加权约束的广义最小方差性能指标，使所设计的控制器不仅适合于航向保持自动操舵，而且适合于航线保持自动控制。实验表明，该控制器具有良好的性能。更多还原

【Abstract】 This paper introduces the self-tuning control algorithm for marine adaptive track-keeping control system. Since the appropriate generalized performance criterion which has the control limit of cross track error is chosen, the adaptive controller designed this way is suited for automatic course-keeping steering and track-keeping control. Experimental result demonstrates the good performance of this controller.更多还原