一种非线性反馈反步递推算法的线性弱化  

A kind of linear reduction of backstepping algorithm based on nonlinear feedback

作　　者：张显库[1] 张国庆[1] 陈秀嘉 

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《控制与决策》2015年第9期1641-1645,共5页Control and Decision

基　　金：国家自然科学基金项目(51109020);大连海事大学优博培育基金项目(2014YB01)

摘　　要：为了解决反步递推算法应用于船舶航向控制中输出能量大且非线性部分难以对消的实际问题,首先对原有的反步递推算法进行线性弱化,然后利用正弦函数驱动的非线性反馈控制技术代替原有的线性误差反馈.理论分析表明,该算法能够保证控制效果相当或更优的前提下,降低控制能量.以"育龙"轮为载体开展仿真实验,结果表明所提出的新型非线性反馈控制律在鲁棒性、控制能量需求方面具有明显的优势.In order to solve the practical problems of large output energy of the controller and difficult nonlinear parameter cancellation in the backstepping scheme,a linear reduction of the nonlinear controller is incorporated by omitting its nonlinear terms.Then,a nonlinear feedback driven sine function is introduced to replace its original linear feedback,which can reduce the control energy with the same or even better control effects through theoretical analysis.The simulation experiment is carried out by considering ＂Yulong＂ training ship as the plant.Simulation results show that the proposed nonlinear feedback Backstepping controller is with obvious advantages in respects of robustness and the control energy requirement.

关 键 词：船舶运动控制 航向保持 反步递推 非线性反馈 闭环增益成形 

分 类 号：U661.321[交通运输工程—船舶及航道工程]