舰船混沌运动的改进自适应Backstepping控制  

Chaos Control of Ship Steering Via Improved Adaptive Backstepping Control

作　　者：黄谦[1] 周红进 金鑫[1] 韩云东[1] HUANG Qian;ZHOU Hong-jin;JIN Xin;HAN Yun-dong(Dalian Naval Academy, Dalian 116018, China)

机构地区：[1]海军大连舰艇学院,辽宁大连116018

出　　处：《指挥控制与仿真》2020年第4期128-132,共5页Command Control & Simulation

基　　金：国家自然科学基金(6130392)。

摘　　要：针对舰船混沌运动控制中模型参数无法确知导致的控制结果不确定问题,将自适应控制方法与Backstepping方法相结合,在设计控制器时,引入参数估计误差补偿项,有效实现了系统参数的准确辨识,并得到了一种改进自适应Backstepping控制方法。实验结果表明,该方法能够实现对系统关键参数未知的舰船混沌运动的稳定有效控制,为舰船航向的高精度保持提供了一种有效途径。To solve the problem of uncertain control results caused by the uncertain parameters of the chaotic ship steering control model,the adaptive control is combined with the Backstepping method,and parameter estimation error compensation is introduced when designing the controller.As a result,the system parameters can be effectively and correctly identified,and an improved adaptive Backstepping control method has been concluded.Our experimental results demonstrate stable and effective control of the chaotic ship steering with unknown key system parameters,provide an effective approach for high accuracy course keeping.

关 键 词：舰船混沌运动 未知参数 自适应控制 BACKSTEPPING方法 

分 类 号：U674.7[交通运输工程—船舶及航道工程]