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船舶航向非线性系统的自适应跟踪控制器设计

杜佳璐1，郭晨2，杨承恩1
  

  1. 1大连海事大学 自动化与电气工程学院，辽宁 大连116026；
    2大连海事大学 航海动态仿真与控制重点实验室，辽宁 大连116026
  • 收稿日期:2004-09-22 修回日期:2004-12-03 出版日期:2006-01-31 发布日期:2006-01-31

Adaptive Nonlinear Design of Autopilot for Ship Course Tracking

DU Jia-lu1, GUO Chen2, YANG Cheng-en1
  

  1. 1 School of Automation and Electrical Engineering, Dalian Maritime University, Dalian 116026,China;
    2 Key Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University, Dalian 116026,China
  • Received:2004-09-22 Revised:2004-12-03 Online:2006-01-31 Published:2006-01-31

被引次数

40

摘要： 将非线性船舶操纵数学模型用于船舶航向跟踪自动舵设计，同时考虑模型参数的不确定性以及舵机伺服系统特性，则船舶操纵非线性数学模型具有非匹配不确定形式。针对上述困难，提出一种新的自适应非线性控制策略，将Nussbaum函数与逆推(backstepping)技术相结合，设计了船舶运动航向跟踪控制器，成功地解决了其虚拟控制系数符号未知的问题。在理论上，借助Lyapunov函数证明了所设计控制器使最终的非匹配不确定船舶运动非线性系统中所有信号有界，船舶实际航向自适应地渐近跟踪设定的期望参考航向。仿真结果表明所设计的控制器有效可行，对系统参数变化具有很强的鲁棒性。

关键词: 航向跟踪控制, 自适应, 非线性, 非匹配不确定, 逆推算法, Nussbaum增益

Abstract: An adaptive nonlinear control algorithm combined with an adaptive backstepping algorithm using the Nussbaum gain technique is proposed for ship course tracking steering, which takes into account rudder characteristics and parameter uncertainty. With the proposed algorithm, a ship course-tracking autopilot is designed without any a priori knowledge about virtual control coefficient. Based on the Lyapunov function, it is proved in theory that the controller makes all signals in the nonlinear system of unmacthed uncertain ship motion uniformly bounded, and the desired reference course is asymptotically tracked by the ship’s actual heading. Performance is demonstrated in a series of simulation studied.

Key words:

course tracking control, adaptive, Nussbaum gain

, nonlinear, unmacthed uncertainty, backstepping algorithm