基于Backstepping的船舶航向自适应鲁棒

针对非线性船舶航向控制中船舶参数不确定性以及外界干扰随机性的特点，提出了一种基于Backstepping的自适应鲁棒控制器非线性系统的设计方法．为了消除静态误差，设计过程中引入了积分器，并借助Lyapunov函数证明了该控制策略使得闭环系统全局一致最终有界，选取恰当的设计参数可保证航向保持误差任意小．仿真结果表明所设计的控制器是有效的．

Design of Backstepping based adaptive robust nonlinear controller of ship course

Considering the characteristics of parametric uncertainties and disturbances in nonlinear control of ship course, this paper proposes a new design method of nonlinear system of adaptive robust controller with Backstepping algorithm. An integrator is introduced in the design process to eliminate static errors. By means of Lyapunov function, it is theoretically proved that the control strategy can make the closed-loop system globally uniformly ultimately bounded and keep the error of course arbitrary small if the designed parameters are correctly chosen. The results of simulation demonstrate the feasibility and effectiveness of the designed controller.