基于逆推-非线性阻尼算法的船舶航向控制器设计

Ship steering controller design based on backstepping algorithm and nonlinear damping algorithm

针对带有不确定项的Norrbin非线性船舶模型，将逆推算法和非线性阻尼算法相结合，设计非线性船舶航向鲁棒控制器，所设计的控制器可克服模型的不确定性，保证最终的闭环系统所有状态一致有界．最后利用Matlab的Simulink仿真工具进行仿真研究，结果表明：算法完全有效，航向控制系统稳定时舵角的波动控制在-0．2°～0.2°，控制效果良好。

For Norrbin ship mathematical model with nonlinear and uncertain characteristics, the ship steering robust controller was designed successfully based on backstepping algorithm and nonlinear damping algorithm. The controller designed counteracts uncertainty and guarantees that all states of the closed-loop system are uniformly bounded. And, simulation studies were carried out by means of Simulink of Matlab. The simulation results show that the proposed algorithm is effective, rudder angle fluctuates between - 0.2° and 0.2° when the ship steering controller system becomes stable and the nonlinear ship steering controller achieves good control effect.