模糊滑模控制在船舶航向非线性系统中的应用

针对一类不确定的非线性系统,把模糊自适应和滑模控制相结合,设计了一种积分滑模控制器。该方法采用模糊逻辑逼近非线性函数,并且为了消除常规滑模控制器被跟踪信号及其导数已知的限制,在滑模控制中引入了积分项;基于Lyapunov方法导出在线调节的切换增益自适应律,有效的克服了系统固有的抖振问题。理论分析证明了闭环系统的稳定性和跟踪误差收敛于零的某邻域内。用该控制器对船舶航向进行跟踪控制的仿真研究结果表明:该控制器具有较强的鲁棒性和较好的跟踪性能。

Application of Fuzzy Sliding Mode Control in Nonlinear Ship Autopilot System

A method of designing integral sliding mode controller combining fuzzy self-adaptation and sliding mode control for a category of nonlinear uncertain systems is proposed.The nonlinear functions are approximated with fuzzy logic and an integral term is introduced into the sliding mode control in order to eliminate the limitation of conventional sliding mode control where tracked signals and their derivatives must be known.The on-line-switching gain adaptation algorithm deducted with Lypunov method eliminates...