基于Backstepping方法的船舶直线航迹控制

Straight-path tracking control of underactuated ship based on backstepping method

针对非线性船舶航迹控制系统,利用Backstepping方法和李亚普诺夫直接法,提出一种非线性鲁棒控制算法,并设计直线航迹控制器.仿真结果表明,控制器可以使船舶航向偏差和航迹偏差同时稳定在平衡点,航迹偏差几乎无抖震,稳定时间明显缩短,并可通过设计参数调节,使船舶直线航迹跟踪控制效果理想.控制算法具有强鲁棒性.

A nonlinear robust control algorithm was proposed by using Backstepping method and Lyapunov＇s direct method according to the nonlinear ship tracking control system,and a linear tracking controller was designed.Simulation results validate that the controller can make the course error and tracking error stabilize on equilibrium point simultaneously,and there is no quake on tracking error curve,and stability time is shortened significantly.The linear track-keeping control effect is ideal by alteration of the designed parameters.The proposed control algorithm has strong robustness.