摘要
考虑船舶航向控制系统模型中存在非线性,并且在模型参数未知的情况下,利用Lyapunov稳定性理论,提出了一种具有积分功能的自适应鲁棒控制新算法.以5000t级杂货船为例,进行了自适应鲁棒自动舵设计,并利用Matlab的Simulink具箱进行了仿真研究,结果证明该算法是十分有效的.
A new adaptive robust control algorithm is presented for ship steering autopilot with uncertain nonlinear system based on unknown parameter of the system and unknown bound of input disturbance by use of the theory of Lyapunov stability. An example illustrating the method described is included for 5000 Tons general cargo ship. It is shown by simulation that the controller can make the designed system guarantees the satisfied performance.
出处
《大连海事大学学报》
CAS
CSCD
北大核心
2002年第3期1-4,共4页
Journal of Dalian Maritime University
基金
交通部专项科研基金资助项目(95060222)
交通部优秀人才专项基金资助项目(95050531).
