摘要
本文在非线性船舶运动模型的基础上,设计基于自适应反步控制的船舶航向控制器,并通过设置控制参数对控制器进行仿真。在仿真过程中,通过无积分器情况下的船舶航行情况,以及有外界环境时船舶的航行变化,说明本文所设计的控制器鲁棒性强。
On the basis of nonlinear ship motion model,a ship course controller was designed based on adaptive backstepping. And the controller was simulated by setting the control parameters. In the process of simulation,the non navigational situations integrator and changes in the external environment of ships were compared. The comparison results show that the controller designed in this paper was robust.
出处
《舰船科学技术》
北大核心
2016年第24期82-84,共3页
Ship Science and Technology
关键词
自适应
反步控制
船舶航向
adaptive
backstepping control
ship course
