船舶航向非线性反演自适应滑模控制  

Ship course nonlinear adaptive sliding mode control based on backstepping

作　　者：王仁强[1] 陈进涛[1] 

机构地区：[1]江苏海事职业技术学院航海技术系,江苏南京211170

出　　处：《舰船科学技术》2014年第3期136-138,142,共4页Ship Science and Technology

基　　金：江苏省教育科学"十二五"规划重点课题(B-a/2011/03/008);江苏省高校大学生实践探究训练计划课题(2012JSSPITP3772)

摘　　要：为实现船舶在大幅度改向操纵运动中航向准确快速跟踪控制,采用Bech船舶操纵运动数学模型精确描述船舶运动性能。考虑到船舶运动中固有的非线性、模型不确定性和风、浪、流等干扰影响,设计一种船舶航向非线性自适应滑模控制器。利用反演法将滑模控制技术与自适应控制技术相结合设计航向改变控制算法,借助Lyapunov稳定性定理证明控制系统渐近稳定,并进行船舶航向控制仿真。仿真结果表明,本文所设计的船舶航向改变控制器性能优良,控制舵角合理,控制输出航向对本船参数摄动及外界干扰不敏感,具有较强的鲁棒性。In order to achieve ship course fast and accurate tracking control when changing course significantly,the Bech ship maneuvering mathematical model is used to accurately describe ship maneuvering performance,considering the nonlinear characteristics,modeling uncertainties and external disturbances such as wind,wave and flow in ship motion,a ship course nonlinear sliding mode controller is designed in this paper.Combining sliding mode control technology with adaptive control technology to design ship course control algorithm based on backstepping,utilizing Lyapunov stability theorem to prove the control system is asymptotically stable and ship course control simulation is carried out.The simulation result shows that the controller,whose rudder angle is reasonable and course is not sensitive,devised in this paper has superior performance and strong robustness.

关 键 词：Bech模型 反演法 自适应 LYAPUNOV 滑模控制 

分 类 号：U666.153[交通运输工程—船舶及航道工程]