非线性船舶动力定位系统反步控制器设计  

Design of Backstepping Controller for Nonlinear Ship Dynamic Positioning System

作　　者：吴小泽[1] 王钦若[1] 陈填锐[1] 高娜[1] 

机构地区：[1]广东工业大学自动化学院,广东广州510006

出　　处：《测控技术》2014年第6期60-63,共4页Measurement & Control Technology

基　　金：广东省重大科技专项基金项目(2009A080202006);广东省自然科学基金项目(9151009001000021);广东省教育部产学研合作专项基金项目(2009B090300341)

摘　　要：针对船舶动力定位系统中数学模型具有耦合、非线性、不稳定等特点,设计了一种基于反步法的非线性输出反馈控制器。首先,采用反步法原理引进位置误差和速度误差并定义了两个子系统的虚拟控制状态向量,结合供给船舶模型建立的非线性数学模型,提出了船舶非线性动力定位系统的控制算法,设计了输出反馈控制器。然后,通过李雅普诺夫(Lyapunov)稳定性理论验证了所设计的控制器具有全局渐近稳定性。最后,针对定位性能和轨迹跟踪性能做了仿真分析,验证了该控制方法的有效性。The mathematical model of ship dynamic positioning system has characteristics of coupling,nonlinear and instability.To deal with those problems,a nonlinear output feedback controller is designed based on the backstepping theory.Firstly,by using the backstepping theory,the position deviation and velocity error are proposed,and the virtual control state vector of two subsystems is defined.Combined with nonlinear mathematical model of the supplied ship,the control algorithm of the system is proposed,and the nonlinear output feedback controller is designed.Then,the global asymptotic stability of the controller is verified by Lyapunov stability theory.Finally,the positioning and trajectory tracking performances are simulated and analyzed,and the effectiveness of the control method is verified.

关 键 词：船舶动力定位 非线性 反步法 稳定性分析 仿真分析 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]