海上航行船舶操纵的非线性鲁棒控制器设计

提出了一种运用自抗扰控制理论设计的非线性鲁棒控制器。波浪干扰的影响通过一种简单的方法计算出来。同时从被有色噪声污染的航向测量中估计出了低频运动成分,这是应用海浪滤波技术做到的。在文中,一种扩张状态观测器被用作海浪滤波器。恶劣海况下的仿真结果表明该控制器对环境干扰和模型扰动具有很强的鲁棒性,同时避免了高频操舵。

Nonlinear Robust Controller Design for Ship Steering in a Seaway

With the aid of the theory of Active Disturbances Rejection Control (ADRC) a nonlinear robust controller designed is presented. The effects of wave disturbances are computed with a simple method.The low frequency motion component is estimated from the heading measurement which are corrupted with colored noise.This is done using so-called wave filtering techniques.An Extended States Observer (ESO) is used as wave filter in this paper.Simulation results achieved from wicked sea status show that the controller has strong robustness to environment disturbances and model perturbation. at the same time, frequent steering is avoided.