基于Backstepping的非线性无人船航向控制算法

Research on course control algorithm of nonlinear unmanned ship based on Backstepping

针对无人船航向控制系统模型存在模型参数和外界干扰不确定性的特点,提出基于Backstepping思想,由控制舵角输入进而控制航向的自适应航向控制算法。自适应算法进行自我调节,可使无人船实际航向与初始航向偏差减小。用Lyapunov函数验证该控制算法能够使得闭环系统最终有界。将该控制算法与传统PID控制算法和模糊PID控制算法进行航向控制仿真对比分析,该控制算法其超调量更小,系统恢复稳定更快。

In view of the uncertainty of model parameters and external interference in the course control system model of unmanned ship,an adaptive Backstepping control algorithm based on nonlinear unmanned ship is proposed.The heading control algorithm based on Backstepping and controlled by the steering Angle input and then heading,self regulation and combined with the adaptive algorithm,can make the actual course and the initial unmanned ship heading error decrease.The control algorithm verified by using Lyapunov function can make ultimately bounded closed loop system.The control algorithm,the traditional PID control algorithm and fuzzy PID control algorithm are analyzed by heading control simulation.It is concluded that the control algorithm is its overshoot volume smaller,stable system recovery faster,which can provide design reference for unmanned ship heading nonlinear control design.