船舶转向静态饱和控制器设计

Static Saturation Controller Design for Ship Course-changing

针对快速转向操纵问题,基于饱和局部分析方法,将不确定非线性船舶动力学模型化为线性微分包含模型,设计饱和线性状态反馈控制规律,通过求解一组线性矩阵不等式约束下的凸优化问题,得到反馈增益矩阵。首次采用线性微分包含方法进行船舶转向控制器设计,其控制规律不仅易于工程实现,且应用于船舶转向控制的仿真结果表明,转向快速平稳、无超调,施舵合理,对不确定的水动力非线性项具有鲁棒性。

For the rapid course-changing problem, based on the local analysis method of the saturation nonlinearity, the uncertain nonlinear ship dynamics model was transformed into a linear differential inclusion model. The linear saturating feedback control law was designed, and the feedback gain matrix was obtained by solving a convex programming problem subject to linear matrix inequality constraints. The ship course-changing controller was designed firstly by the linear differential inclusion, which not only was easy to implement in engineering, but also, as demonstrated by the ship course-changing simulation results, achieved fast steady course-changing maneuvers without overshoot, fit steering and the strong robustness with respect to the uncertain nonlinear water dynamics term.