摘要
针对含有匹配不确定项的Norrbin非线性船舶数学模型,将逆推(Backstepping)算法和非线性阻尼(Nonlinear Damping)相结合设计船舶航向控制器,成功消除了由风、浪、流外界干扰引起的系统不确定项,并保证了闭环系统所有状态最终一致有界.同时在设计过程中引入了积分项,更好的改善了系统的性能.仿真结果表明,该算法是完全有效的.
A ship course controller is designed for Norrbin nonlinear ship mathematical model with matching uncertainty. Combining the backstepping algorithm with the nonlinear damping algorithm, the designed controller ensures all states of the closed-loop system globally uniformly ultimately bounded and successfully cancels the uncertainty which is generated by wind, wave and current. The integral item is introduced in the design to improve the performance of the controller. The results of simulation demonstrate the feasibility and effectiveness of the designed controller.
出处
《船舶工程》
CSCD
北大核心
2008年第5期42-45,共4页
Ship Engineering
基金
辽宁省自然科学基金项目(20072148)
