基于反步法和滑模观测器的船舶航向控制  

Control of ship courses using backstepping and sliding mode observer

作　　者：朱齐丹[1] 周芳[1] 赵国良[1] 包卫卫 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2009年第4期122-125,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家人事部出国留学人员基金资助项目(20001024A2)

摘　　要：针对船舶航向控制系统中船舶参数不确定性以及外界干扰随机性的特点,提出了一种将反步法和非线性滑模观测器相结合的控制方法.其中利用二阶滑模观测器对船舶转首角速度进行观测,由于观测器在有限时间内收敛,可将观测器和控制器进行独立设计,避免了对系统建立精确数学模型的要求.同时利用反步法进行控制器设计,保证了闭环系统的全局渐近稳定.仿真结果表明,所设计的控制器不仅能保证系统稳定跟踪期望信号,而且对给定的扰动量能准确观测,从而提高了系统的鲁棒性.Considering the characteristics of parametric uncertainties and disturbance in the control of ship course, a new control method based on the backstepping and nonlinear sliding mode observer is presented. The course angular velocity is obtained via a second order sliding mode observer. Since the finite time the observer is converged, it can be designed independently of the controller and avoid thedemand of the exact math model. The controller was designed by the Backstepping. The global asymptotic stability of the closed system could be ensured. The simulation results show that the system can follow up the desired signals and can exactly observe the given disturbance and improve the robustness of closed system.

关 键 词：船舶航向控制 滑模控制 非线性观测器 反步法 鲁棒性 全局渐近稳定 

分 类 号：U661.33[交通运输工程—船舶及航道工程]