船舶航向非线性系统的自适应跟踪控制器设计

Journal of Applied Sciences ›› 2006, Vol. 24 ›› Issue (1): 83-0083 .

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Adaptive Nonlinear Design of Autopilot for Ship Course Tracking

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

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

Abstract

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

DU Jia-lu;GUO Chen;YANG Cheng-en. Adaptive Nonlinear Design of Autopilot for Ship Course Tracking
[J]. Journal of Applied Sciences, 2006, 24(1): 83-0083 .

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URL: https://www.jas.shu.edu.cn/EN/

https://www.jas.shu.edu.cn/EN/Y2006/V24/I1/83

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