船舶航向非线性系统的鲁棒控制  

Robust control algorithm applied to ship steering autopilot with nonlinear system

作　　者：于晓利[1] 

机构地区：[1]大连水产学院海渔系,辽宁大连116023

出　　处：《大连水产学院学报》1999年第4期43-47,共5页Journal of Dalian Fisheries University

摘　　要：考虑在船舶航向控制系统模型中存在非线性, 并假设模型参数和外界干扰有界的情况下, 利用Lyapunov 稳定性理论, 提出了一种鲁棒控制新算法。以一艘5000 t 级杂货船为例, 进行了鲁棒控制自动舵设计, 并利用Matlab 工具箱进行了仿真研究, 结果证明该算法完全正确。A robust control algorithm is proposed for autopilot with nonlinear system based on known parameter boundness of the system and known boundness of input disturbance by use of the theory of Lyapunov stability An example illustrating the method described is presented for a 5000 t general carog ship The simulation shows that the controller can make the designed system guarantee the required performance

关 键 词：非线性系统 鲁棒控制 船舶航向控制 

分 类 号：U664.36[交通运输工程—船舶及航道工程] TP273.2[交通运输工程—船舶与海洋工程]