船舶航向非线性系统的鲁棒自适应控制  

Robust Adaptive Control Algorithm Applied to Ship Steering Autopilot with Uncertain Nonlinear System

作　　者：杨盐生[1] 贾欣乐[1] 于晓利[2] 

机构地区：[1]大连海事大学 [2]大连水产学院

出　　处：《中国造船》2000年第1期21-25,共5页Shipbuilding of China

基　　金：辽宁省教委高校科研项目!(9635321247)

摘　　要：考虑船舶航向控制系统模型中存在非线性，并且模型参数是未知的情况下，利用Ｌｙａｐｕｎｏｖ稳定性理论，提出了一种鲁棒自适应控制新算法。以“育龙”轮为例，进行了鲁棒自适应自动舵设计，并利用 Ｍａｔｌａｂ工具箱进行了仿真研究，结果证明该算法十分有效。A new robust adaptive control algorithm is presented for ship steering autopilot with uncertain nonlinear ststem based on unknown parameters of the system and unknown bound of input distur- bance by use of the theory of Lyapunov stability. An example which illustrates the method described is included for ship 'Yulong' belonging to Dalian Maritime University. It is shown by simulation that the controller can make the designed system guarantee the satisfied performance.

关 键 词：航向 非线性系统 自适应控制 鲁棒控制 船舶 

分 类 号：U661.33[交通运输工程—船舶及航道工程]