摘要
针对非线性船舶航向控制系统,将Line of Sight(LOS)引导律与滑模控制算法相结合,设计一种航向保持滑模控制算法,通过设计合理的李雅普诺夫函数及利用其稳定性理论对系统的稳定性进行了分析,并利用"育龙"轮运动数学模型进行计算机模拟仿真,验证设计思想的可行性和控制算法的合理性及有效性。仿真结果表明,控制算法可以保证航向控制系统的渐近收敛及稳定,根据该控制算法所设计的控制器,能够使船舶航向精确的保持在预定航向上,具有优良的控制效果。
According to sliding mode control ideas, course-keeping control algorithm is proposed with the combination LOS and sliding mode control. The stability of control system is proved by Lyapunov stability theory and numerical simulation is carried out to validate the reasonableness and validity. The algorithm can guarantee the convergence and stability of closed-loop control system. Numerical simulation results verify the controller who is proposed by this algorithm is insensitive to external disturbances and system perturbation and has the invariability and excellent robustness.
出处
《舰船科学技术》
北大核心
2017年第5X期64-66,共3页
Ship Science and Technology
基金
辽宁省自然基金资助项目(201602084)
中央高校基本科研业务费专项资金资助项目(3132016002
3132016006)
