基于输入输出线性化的航迹滑模控制及仿真

Sliding-mode Controllers for Ship’s Track-keeping Control Systems Based on Input-output Linearization

针对船舶航迹控制系统的非线性及易受外部干扰的特点,提出了一种基于输入输出线性化的航迹滑模控制策略。通过定义输出变量将非线性航迹控制系统转化为线性系统,然后采用指数趋近律的滑模控制方法设计控制器,使得设计的非线性控制律直观简洁,鲁棒性好。通过SIMULINK仿真验证了该算法的有效性。

For the characteristics of the ship ＂s track-keeping control system easily influenced by external disturbances, a nonlinear sliding-mode control method based on the input-output linearization technique is proposed. The nonlinear system is transformed into linear by using defined output variables, then the controllers is designed by using exponential approaching law sliding-mode control method to make the controller simple and robust. The eff＇ectiveness of the method is proved bv SIMULINK simulation.