船舶航向非线性Backstepping自适应鲁棒控制  

Ship Course Nonlinear Adaptive Backstepping Control

作　　者：叶宝玉[1] 王钦若[2] 熊建斌[3] 邓九英[3] 

机构地区：[1]广州民航职业技术学院飞机维修工程学院,广东广州510403 [2]广东工业大学自动化学院,广东广州510006 [3]广东石油化工学院计算机与电子信息学院,广东茂名525000

出　　处：《控制工程》2013年第4期607-610,共4页Control Engineering of China

基　　金：广东省重大科技专项(2009A080202006);广东省自然科学基金资助项目(915100900100021);广东省教育部产学研合作专项资金资助项目(2009B090300341)

摘　　要：针对非线性船舶航向控制中船舶参数及扰动的不确定性,提出了带有积分器的非线性Backstepping自适应鲁棒控制算法。首先对扰动界已知的非线性船舶实现船舶航向跟踪控制,并取得了全局指数稳定的控制效果。考虑到海洋环境的随机性对船舶的影响,又对扰动界未知的非线性船舶实现船舶航向跟踪控制,并利用Lyapunov稳定性理论证明其满足L2控制标准,取得了全局稳定的控制效果。仿真结果验证了所设计方法的有效性。Considering the nonlinear ship course control with uncertain parameters and disturbance, a nonlinear adaptive Backstepping control algorithm with integrator is proposed. Firstly, the control algorithm realizes the tracking control of nonlinear ship course with the known perturbation bounds, and obtained the control effects of global exponential stability. Taking the influence of the random Marine environment to the ship into account, the other control algorithm realizes the tracking control of nonlinear ship course with the unknown perturbation bounds, and proved that the control algorithm meets L2 control standards and has the control effect of global stability make use of Lyapunov stability theory. The simulation results show the effectiveness of the design method.

关 键 词：船舶航向控制 BACKSTEPPING 自适应鲁棒控制 稳定性分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]