船舶航向非线性系统的模型参考模糊自适应控制

Model Reference Fuzzy Adaptive Control for Ship Streering Autopilot with Uncertain Nonlinear System

考虑船舶航向控制系统模型中存在不确定非线性函数 ,并假设该函数是连续的 ,在以模糊系统对该函数进行逼近的基础上 ,利用 Lyapunov理论 ,提出了一种新的模型参考模糊自适应控制算法。其特点是 ,无论取多少条模糊系统规则 ,自适应学习的参数只有一个 ,便于工程实现 ,而且还确保闭环系统渐近稳定 ,并使系统的模型跟踪误差为零。最后以远洋实习船“育龙轮”为例 ,进行了船舶航向模型参考模糊自适应自动舵设计 ,并利用 Matlab工具箱进行了仿真研究 。

A new model reference fuzzy adaptive control algorithm is presented for ship steering autopilot with uncertain nonlinear systems. In the algorithm, fuzzy logic systems are used to approximate unknown functions in the ship steering systems and the adaptive mechanism with only one minimal learning parameterization can achieved by use of Lyapunov approach. An example illustrating the method described is included for the ocean going training ship which belongs to Dalian Maritime University. It is shown that the controller can make the designed system guarantee the satisfied performance by simulation based on the Matlab Simulink package.