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	控制增益未知的船舶航向非线性自适应跟踪控制(英文)
	杜佳璐 ; 郭晨 ; DU Jia-lu ; GUO Chen
	2010-06-09 ; 2010-06-09
关键词	船舶航向跟踪控制 自适应控制 非线性 参数不确定 逆推算法 Nussbaum增益 ship course tracking control adaptive control nonlinear parameter uncertainty backstepping algorithm Nussbaum gainCLC number: TP271Document code: A U666
其他题名	Nonlinear adaptive design for course-tracking control of ship without a priori knowledge of control gain
中文摘要	针对参数不确定的船舶运动非线性控制系统控制方向未知的困难,将逆推算法与Nussbaum增益方法相结合,提出一种新的自适应非线性控制策略,从而实现船舶运动航向跟踪控制.首先,从理论上证明了所设计的自适应控制器保证最终的控制系数符号未知的参数不确定船舶运动非线性系统中所有信号一致有界,船舶的实际航向全局自适应地渐近跟踪期望的参考航向.对两条船舶数学模型的仿真实验结果表明,所设计的自适应非线性跟踪控制器具有良好的适应性及鲁棒性.; A nonlinear adaptive control strategy is proposed to solve the problem of uncertainty and nonlinearity of the ship steering mathematical model.The presented method which incorporates Nussbaum gain technique into adaptive backstepping algorithm is especially useful in dealing with the unknown sign of uncertain control coefficient.It is at first proved theoretically that the presented adaptive controller guarantees that all signals in the parameter uncertain nonlinear ship motion system without a priori knowledge about control directions are uniform bounded,and the output of the controlled uncertain nonlinear ship motion system asymptotically tracks the output of the ship course reference model.Then,simulation studies are carried out by utilizing Matlab's Simulink toolbox.The results of the simulation of two ships' steering models show that the designed controller can be applied to the ship course tracking with good compatibility and robustness.; theMinistryofCommunicationsofChina(95-05-05-32);theFoundationofChinaScholarshipCouncil([1999]5003);theFoundation oftheStateKeyLaboratoryofIntelligentTechnologyandSystems.tsinghuaUniversity,China(0107).
语种	英语 ; 英语
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/55081]
专题	清华大学
推荐引用方式 GB/T 7714	杜佳璐,郭晨,DU Jia-lu,等. 控制增益未知的船舶航向非线性自适应跟踪控制(英文)[J],2010, 2010.
APA	杜佳璐,郭晨,DU Jia-lu,&GUO Chen.(2010).控制增益未知的船舶航向非线性自适应跟踪控制(英文)..
MLA	杜佳璐,et al."控制增益未知的船舶航向非线性自适应跟踪控制(英文)".(2010).

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