带有未建模动态的船舶减摇鳍的鲁棒自适应控制

Robust Adaptive Control for Ship Steering Autopilot with Unmodeled Dynamics

针对船舶减摇鳍非线性数学模型,提出一种鲁棒自适应控制器,可以用于存在非线性不确定、未知有界扰动和未建模动态的情况。应用Lyapunov稳定性理论证明,所提出的鲁棒自适应控制器可保证整个非线性系统的稳定性,且通过适当选择设计参数,可使跟踪误差达到任意精度。仿真结果表明了所提方法的有效性。

This paper presents a design approach to robust adaptive controllers for the nonlinear model of ship steering autopilot, The approach can be used in the case where there exist nonlinear uncertainties, u-nmodeled dynamics and unknown bounded disturbances. Using the Lyapunov stability theory, it is show-n that the proposed adaptive control scheme guarantees the stability of the nonlinear system. Furthermore , the tracking error can be made in arbitrarily precise by choosing some design constants appropriately. Simulation results illustrate the effectiveness of the proposed scheme.