基于自适应动态面的航向跟踪控制器设计

针对船舶航向控制非线性系统模型中存在的不确定性和外界干扰的影响,采用动态面控制算法设计了一种鲁棒自适应控制器。由于在反步法设计过程中加入了一阶低通滤波器使得该方法无需对模型非线性多次微分,因而设计方法简单。所设计的鲁棒自适应控制器不仅能保证闭环系统的半全局渐近稳定,使得输出渐进跟踪期望轨迹;而且,跟踪误差可以通过控制器的设计参数加以调整。以中远集装箱船COSCO Shanghai号为例进行仿真研究,结果证明所设计的控制器是有效的。

The Controller Design of Ship Steering Based on Adaptive Dynamic Surface Method

Based on the dynamic surface control method,a robust adaptive design scheme is proposed for ship course control system with parametric uncertainties and modeling uncertainties,as well as unknown bounded exogenous disturbances.The addition of low pass filters in backstepping design procedure allows the dynamic surface control method to be implemented without differentiating any model nonlinearities,which simplifies the design.The proposed adaptive robust controller guarantees the closed-loop semi-globally asymptotically stable,and output a symptotic tracking expected trajectory.Besides,the final tracking accutacy could be adjusted via certain controller parameters.The simulation results show that the proposed controller has a prescribed course tracking transient performance and robustness for the uncertainties of the system.