基于反推策略的船舶直线航迹控制算法研究

为实现船舶直线航行的轨迹控制,基于船舶航行基本原理,建立了船舶航行运动的非线性模型。针对模型强非线性的特点,依据输入-状态反馈线性化原理,将非线性模型转化为具有下三角结构的线性模型,并基于反推技术和状态反馈,设计了船舶直线航行控制器。根据Lyapunov方法证明了闭环航迹系统是可镇定的。仿真结果验证了所提控制算法的正确性和有效性。

Straight-Line Tracking Control of Ships Based on Backstepping Techniques

To realize the function of straight-line tracking control, a nonlinear ship track model is built, which reflects the navigation principles of ships. To deal with strong nonlinearity in the navigation system, according to Input-State Feedback Linearization method, the nonlinear course model is transformed into a lower triangular structure linear model. Based on backstepping techniques and state feedbacks, a navigation controller is designed. The stabilization of the closed-loop navigation system is proved by Lyapunov method. The simulation results verify the correctness and effectiveness of the presented control algorithm.