摘要
针对船舶航向控制非线性系统模型中存在的不确定性和外界干扰的影响,采用动态面控制算法设计了一种鲁棒自适应控制器。由于在反步法设计过程中加入了一阶低通滤波器使得该方法无需对模型非线性多次微分,因而设计方法简单。所设计的鲁棒自适应控制器不仅能保证闭环系统的半全局渐近稳定,使得输出渐进跟踪期望轨迹;而且,跟踪误差可以通过控制器的设计参数加以调整。以中远集装箱船COSCO Shanghai号为例进行仿真研究,结果证明所设计的控制器是有效的。
For existing uncertainties and unknown bounded exogenous interferences in nonlinear system model of ship course control, dynamic surface control algorithm is adopted to design a robust adaptive controller. Because a low pass filter is added in the back stepping design process, it is avoided to differentiate the nonlinear model repeatedly, so the design method is simple. The proposed adaptive robust controller can not only guarantee the closed-- loop system semi- globally asymptotically stable, but also make its output track expected trajectories in orderly sequence. Besides, tracking error can be controlled with design parameters of the controller. Simulation study has been carried out on an example of COSCO ship Shanghai, its results indicates that the proposed controller has a prescribed course tracking transient performance and robustness for system uncertainties.
出处
《中国航海》
CSCD
北大核心
2008年第3期236-239,共4页
Navigation of China
关键词
船舶、舰船工程
船舶航向
自适应动态面控制
递推方法
干扰
ship, naval engineering
ship course
adaptive dynamic surface control
back stepping method
interference
