设计一种基于积分Backstepping的船舶航向非线性滑模控制器，实现船舶在大幅度改向操纵运动中航向准确快速跟踪控制。在采用Bech船舶操纵运动数学模型精确描述船舶大幅度改向运动性能的基础上，利用反演法设计航向改变控制算法，引入积分控制环节消除模型参数不确定性和风、浪、流等干扰影响，借助Lyapunov稳定性定理证明控制系统渐近稳定。对实船的仿真对比可知，本文设计的船舶航向控制器性能优越，控制舵角合理，控制输出航向对本船参数摄动及外界干扰不敏感，具有较强的鲁棒性.
Abstract
A ship course nonlinear sliding mode controller based on the integral Backstepping is designed, and fast and accurate tracking control for ship course is achieved when changing course significantly. Bech ship maneuvering mathematical model is used to accurately describe ship maneuvering performance. On the basis of this, the inversion method is used to design ship course change control algorithm, and integral control link is introduced to eliminate modeling uncertainties and external disturbances such as wind, wave and flow. The control system is proved to be asymptotically stable by using Lyapunov stability theorem. It is known that the proposed controller whose rudder angle is reasonable and course is not sensitive has superior performance and strong robustness on the real ship simulation comparison.
关键词
船舶航向 /
非线性滑模控制 /
积分Backstepping
Key words
ship course /
nonlinear sliding mode control /
integral Backstepping
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