为减小参数激励带来的不利因素，需要非线性鲁棒控制器对系统稳定性进行控制.为简化船舶参数横摇非线性控制器设计过程，通过构建Lyapunov能量函数，将设计步骤由2步变为1步，减少了控制器参数的整定数量，避免了非线性控制律对消系统的非线性项.仿真结果表明,采用以上方法设计的非线性简化控制器对于消除船舶参数横摇系统的大幅横摇十分有效，并且具有一定的鲁棒性.
Abstract
To decrease the influence caused by parametric resonance, the nonlinear robust controller should be designed to keep the system stable. To simplify the design process of nonlinear controller, a Lyapunov energy function is derived, which converts the design process from two steps into one step. The function has less parameters to be tuned, so as to avoid canceling the nonlinear items. Simulation results show that the control effects are very effective for the elimination of large rolling motion in the ship parametric rolling system and have satisfactory robust stability.
关键词
船舶 /
Lyapunov稳定性 /
参数激励横摇 /
非线性鲁棒控制
Key words
ship /
Lyapunov stability /
parametric excitation rolling /
nonlinear robust control
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基金
基金项目：国家自然科学基金项目资助项目(50979009);国家重点基础研究发展（973）计划子项目(2009CB320805).
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