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| 基于Backstepping的船舶航向自适应滑模控制 | |
| 引用本文： | 王林,陈楠,高嵬.基于Backstepping的船舶航向自适应滑模控制[J].船电技术,2012,32(4):16-18. |
| 作者姓名： | 王林 陈楠 高嵬 |
| 作者单位： | 1. 海军驻武汉701所军事代表室,武汉,430064 2. 91206部队,山东青岛,266071 3. 海军工程大学电气与信息工程学院,武汉,430033 |
| 摘 要： | 针对Norrbin非线性船舶运动数学模型,提出了一种基于Backstepping的自适应滑模控制策略。为了消除外界扰动的影响,引入扰动估计器的设计方法,并借助Lyapunov函数证明了该控制器可以确保闭环系统渐近稳定,使系统的跟踪误差趋于零。与传统的PID控制策略相比,具有较好的跟踪能力和较快的响应速度。 |
| 关 键 词： | 船舶自动舵 外界干扰 Backstepping 滑模控制 |
Adaptive Sliding Mode Control Based on Backstepping for Marine Autopilot Systems |
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| Wang Lin,Chen Nan,Gao Wei.Adaptive Sliding Mode Control Based on Backstepping for Marine Autopilot Systems[J].Marine Electric & Electronic Technology,2012,32(4):16-18. | |
| Authors: | Wang Lin Chen Nan Gao Wei |
| Institution: | 1.Naval Representatives Office in 701 Institute,Wuhan 430064,China;2.No.91206 Troop of PLA,Qingdao 266071;China 3.Electricity and Information Engineering School in NUE,Wuhan 430033,China) |
| Abstract: | An adaptive sliding mode control algorithm based on backstepping is proposed for Norrbin nonlinear ship model.In the procedure,a disturbance compensator is designed to eliminate the influence of system disturbance.By means of Lyapunov function,it is theoretically proved that the control strategy may make the closed-loop system globally asymptotically stable,with tracking errors converging to zero.The discussed controller has better tracking capabilities and faster response rapidity than traditional proportional-integral-derivative（PID） controllers. |
| Keywords: | ship autopilot external disturbances backstepping sliding mode |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |