【作者】 杜佳璐； 于双和； 郭晨； 赵永生；

【Author】 Du Jialu,Yu Shuanghe,Guo Chen,Zhao Yongsheng School of Automation and Electrical Engineering ,Dalian Maritime University,Dalian 116026,P.R.China

【机构】 大连海事大学自动化与电气工程学院；

【摘要】 针对一般的具有未知控制方向的参数化严格反馈不确定非线性系统,基于Backstepping方法和Nussbaum增益函数,本文提出了一种新的非线性自适应控制算法.利用增广李雅普诺夫函数法证明系统的一致渐近稳定性.针对"大庆232"号油船的航向保持控制中的仿真结果验证了理论分析的正确性和算法的有效性.更多还原

【Abstract】 A kind of novel nonlinear adaptive control strategy is proposed for the general parameterized strict feedback un- certain nonlinear systems with unknown control directions.The proposed control scheme is based on the Backstepping algo- rithm and Nussbaum gain function.The uniformly asymptotical stability is proved by utilizing the augumented Lyapunov function.The simulation results on the course keeping control of "Daqing 232" tank ship validate the theoretical analysis and the algorithmic effectiveness.更多还原