基于Lyapunov稳定性的船舶航向保持非线性控制

为简化船舶航向保持非线性控制器设计的过程,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.以实际船舶为例,结果表明,采用以上方法设计的非线性简化控制器具有一定的鲁棒性,主要控制指标良好,施舵合理.

Nonlinear Control for Ship Course-Keeping Based on Lyapunov Stability

To simplify the design process of nonlinear controller for ship course-keeping, a Lyapunov energy function was derived. The simplified design process reduces 2 design steps into 1, has less parameters to be tuned, and avoids canceling the nonlinear items. The simulation research was carried out by taking a ship as an example. The results showed that the controller was robust and exhibited good performances in terms of main control indexes, and the rudder angle and rotation rate were desirable.