Backstepping在船舶航向自适应鲁棒非线性控制器设计中的应用

Application of Backstepping in design of adaptive robust nonlinear controller for ship steering

船舶航向控制器在船舶整体控制系统中发挥着重要作用,是船舶安全稳定航行的关键。考虑到航行过程中外界干扰具有诸多不确定性,以及船舶控制存在非线性,本文利用Backstepping的设计方法,结合自适应鲁棒控制,提出带有积分器的航向控制器控制方案,并应用到船舶航向控制器的设计中,仿真结果证明该方案下的控制器有效性良好。

The ship course controller plays an important role in the overall control system,which is the key to the safe and stable navigation of the ship,considering the uncertainty of external interference with navigation process,and ship control is nonlinear,this paper using the Backstepping design method,combined with adaptive robust control,put forward with the course controller integrator control scheme,and applied to the design of ship course controller. The Simulation results show that the proposed scheme is effective.