针对具有饱和约束的船舶航向控制问题，提出一种基于Lyapunov稳定性理论的非光滑反馈设计实现航向无差控制.该方法结合闭环控制及开环控制两种设计手段，在保证船舶航向控制系统稳定的前提下，克服舵角工作范围约束，可在初始条件已知情况下，保证船舶在任意位置实现无差航向控制.多种情况下数值仿真结果验证了该非光滑设计方法的有效性.
Abstract
Based on Lyapunov stability theory, the nonsmooth feedback design is proposed to overcome the saturation constrained and to obtain the stability of ship steering control system without static error. Combining the closed-loop control design with the open-loop control design, this method can achieve the zero static steering error with the initial condition of the ship obtained. Numerical simulations under several conditions verify the effectiveness of the proposed method.
关键词
航向控制 /
饱和非线性 /
非光滑控制 /
开环控制
Key words
ship steering /
saturation nonlinearity /
nonsmooth control /
open-loop control
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参考文献
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基金
教育部博士点基金( 20102125120001)；国家自然科学基金资助项目( 60736022)；中央高校基本科研业务费专项资金资助项目( 2012TD031).
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