基于Backstepping的船舶航向自适应滑模控制  

Adaptive Sliding Mode Control Based on Backstepping for Marine Autopilot Systems

作　　者：王林 陈楠[2] 高嵬[3] 

机构地区：[1]海军驻武汉701所军事代表室 [2]91206部队 [3]海军工程大学电气与信息工程学院

出　　处：《船电技术》2012年第4期16-18,共3页Marine Electric & Electronic Engineering

摘　　要：针对Norrbin非线性船舶运动数学模型,提出了一种基于Backstepping的自适应滑模控制策略。为了消除外界扰动的影响,引入扰动估计器的设计方法,并借助Lyapunov函数证明了该控制器可以确保闭环系统渐近稳定,使系统的跟踪误差趋于零。与传统的PID控制策略相比,具有较好的跟踪能力和较快的响应速度。An adaptive sliding mode control algorithm based on backstepping is proposed for Norrbin nonlinear ship model.In the procedure,a disturbance compensator is designed to eliminate the influence of system disturbance.By means of Lyapunov function,it is theoretically proved that the control strategy may make the closed-loop system globally asymptotically stable,with tracking errors converging to zero.The discussed controller has better tracking capabilities and faster response rapidity than traditional proportional-integral-derivative（PID） controllers.

关 键 词：船舶自动舵 外界干扰 BACKSTEPPING 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]