船舶航向非线性系统离散变结构控制

Discrete variable structure control of nonlinear ship autopilot system

基于非线性模型研究船舶航向自动舵的离散变结构控制设计问题。通过状态反馈精确线性化方法设计了二次型最优滑模面,采用离散趋近律方法求得变结构控制律。研究结果表明,所设计的离散变结构控制器能够快速准确地跟踪设定航向,并对参数摄动和外界风浪干扰具有很强的鲁棒性。

The nonlinear ship autopilot controller design by using discrete variable structure control theory is researched in this paper. The sliding surface is determined by the state variable feedback linearizationmethod and the variable structure control law is designed by the ＂reaching law approach＂. The simulation results show that the controller designed here can track a desired course fast and accurately. It also exhibits strong robustness peculiarity to system uncertainties.