| 引用本文: | 李铁山, 杨盐生, 洪碧光, 秦永祥.船舶航迹控制鲁棒自适应模糊设计[J].控制理论与应用,2007,24(3):445~448.[点击复制] |
| LI Tie-shan, YANG Yan-sheng, HONG Bi-guang, QIN Yong-xiang.Robust adaptive fuzzy design for ships track-keeping control[J].Control Theory and Technology,2007,24(3):445~448.[点击复制] |
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| 船舶航迹控制鲁棒自适应模糊设计 |
| Robust adaptive fuzzy design for ships track-keeping control |
| 摘要点击 1881 全文点击 1907 投稿时间：2005-08-15 修订日期：2006-04-23 |
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| DOI编号 10.7641/j.issn.1000-8152.2007.3.022 |
| 2007,24(3):445-448 |
| 中文关键词 船舶 航迹控制 非线性控制 鲁棒自适应模糊控制 虚拟控制增益 |
| 英文关键词 ships track-keeping control nonlinear control robust adaptive fuzzy control virtual control gain |
| 基金项目 国家自然科学基金资助项目(60474014,10572094); 教育部高等院校博士点基金资助项目(20020151005) |
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| 中文摘要 |
| 研究了船舶直线航迹控制问题. 基于Lyapunov稳定性理论, 将Nussbaum增益技术融入Backstepping设计方法之中, 利用模糊系统逼近系统中的未知非线性, 提出一种鲁棒自适应模糊控制算法. 该算法保证了闭环系统的信号是一致最终有界的, 使得系统输出收敛到零的一个较小邻域, 从而能够实现船舶的直线航迹控制; 而且, 该算法不需要高频增益符号的任何信息, 还解决了可能存在的控制器奇异值问题. 计算机仿真结果验证了控制器的有效性. |
| 英文摘要 |
| The problem of ship linear path-keeping control is discussed. With the help of Lyapunov stability theory, Combined Nussbaum gain with the backstepping techniques, a novel algorithm is then proposed by employing fuzzy systems as approximator of those unknown nonlinearities in the system. It is also proved that the proposed algorithm could guarantee the closed-loop system to be uniformly ultimately bounded and the output converges to a small neighborhood of zero, so that ship linear path-keeping control can be implemented. Finally, simulation results are presented to validate the effectiveness. |
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