船舶航迹控制鲁棒自适应模糊设计  

Robust adaptive fuzzy design for ships track-keeping control

作　　者：李铁山[1] 杨盐生[2] 洪碧光[2] 秦永祥[2] 

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200030 [2]大连海事大学航海学院,辽宁大连116026

出　　处：《控制理论与应用》2007年第3期445-448,共4页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60474014;10572094);教育部高等院校博士点基金资助项目(20020151005).

摘　　要：研究了船舶直线航迹控制问题.基于Lyapunov稳定性理论,将Nussbaum增益技术融入Backstepping设计方法之中,利用模糊系统逼近系统中的未知非线性,提出一种鲁棒自适应模糊控制算法.该算法保证了闭环系统的信号是一致最终有界的,使得系统输出收敛到零的一个较小邻域,从而能够实现船舶的直线航迹控制;而且,该算法不需要高频增益符号的任何信息,还解决了可能存在的控制器奇异值问题.计算机仿真结果验证了控制器的有效性.The problem of ship linear path-keeping control is discussed. With the help of Lyapunov stability theory, Combined Nussbaum gain with the backstepping techniques, a novel algorithm is then proposed by employing fuzzy systems as approximator of those unknown nonlinearities in the system. It is also proved that the proposed algorithm could guarantee the closed-loop system to be uniformly ultimately bounded and the output converges to a small neighborhood of zero, so that ship linear path-keeping control can be implemented. Finally, simulation results are presented to validate the effectiveness.

关 键 词：船舶 航迹控制 非线性控制 鲁棒自适应模糊控制 虚拟控制增益 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]