考虑执行器饱和约束的非光滑船舶航向控制器设计  

Nonsmooth controller design of ship steering with saturation

作　　者：王国峰[1] 郑凯[1] 王兴成[1] 

机构地区：[1]大连海事大学信息科学技术学院,辽宁大连116026

出　　处：《中南大学学报（自然科学版）》2013年第12期4903-4909,共7页Journal of Central South University:Science and Technology

基　　金：教育部博士点基金资助项目(20102125120001);国家自然科学基金资助项目(61004007);中央高校基本科研业务费专项资金资助项目(3132013331)

摘　　要：针对由航向舵工作范围受限引起的饱和约束下船舶航向控制问题,基于非线性系统反步设计思想,结合Filippov微分包含及非光滑系统Lyapunov稳定性理论提出了1种非光滑反馈控制律设计方法。在考虑航向舵执行机构动态的前提下,利用该方法可获得Lipschitz连续的非光滑反馈控制律,并可实现船舶航向控制系统全局渐近稳定性。数值仿真结果验证了该非光滑设计方法的有效性。In order to overcome the design problem of ship steering control caused by the limited motion of the steering engine, a new nonsmooth feedback control law is developed in this work based on backstepping design method of the nonlinear systems with the consideration of Filippov＇s differential inclusion theory and Lyapunov stability theory of the nonsmooth systems. With the mathematical model of the ship steering system including the dynamics of the steering engine, the Lipschitz continuous and nonsmooth feedback controller can be obtained through the proposed design method, which can ensure the globally asympiotic stability of the closed-loop system. The numerical simulation is carried out to verify the nonsmooth control design.

关 键 词：航向控制 饱和非线性 反步设计法 非光滑控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]