| 船舶航向模糊滑模控制器的设计与仿真 |
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| 引用本文： | 袁雷,吴汉松.船舶航向模糊滑模控制器的设计与仿真[J].船舶与海洋工程学报,2011,10(1):76-81. |
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| 作者姓名： | 袁雷 吴汉松 |
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| 作者单位： | Department of Electrical and Information Engineering, Naval University of Engineering, Wuhan 430033, China |
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| 基金项目： | Supported by the National Natural Science Foundation of China under Grant No.60974136 |
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| 摘 要： | In considering the characteristic of a rudder,the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties.In order to solve the uncertainties in the ship heading control,specifically the controller singular and paramount re-estimation problem,a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology,the approximation property of fuzzy logic systems,and a multiple sliding-mode control algorithm.Based on the Lyapunov function,it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded,with tracking errors converging to zero.Simulation results show that the demonstrated controller design can track a desired course fast and accurately.It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.
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| 关 键 词： | ship autopilot nonlinear system unmatched uncertainty multiple sliding mode control fuzzy control |
Simulation and design of fuzzy sliding-mode controller for ship heading-tracking |
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| Lei Yuan,Hansong Wu.Simulation and design of fuzzy sliding-mode controller for ship heading-tracking[J].Journal of Marine Science and Application,2011,10(1):76-81. |
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| Authors: | Lei Yuan Hansong Wu |
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| Institution: | 1. Department of Electrical and Information Engineering, Naval University of Engineering, Wuhan, 430033, China
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| Abstract: | In considering the characteristic of a rudder, the maneuvers of a ship were described by an unmatched uncertain nonlinear
mathematic model with unknown virtual control coefficient and parameter uncertainties. In order to solve the uncertainties
in the ship heading control, specifically the controller singular and paramount re-estimation problem, a new multiple sliding-mode
adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology, the approximation property of fuzzy logic
systems, and a multiple sliding-mode control algorithm. Based on the Lyapunov function, it was proven in theory that the controller
made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded, with tracking errors converging
to zero. Simulation results show that the demonstrated controller design can track a desired course fast and accurately. It
also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances. |
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