| 基于鲁棒反馈线性化的船舶航向鲁棒内模控制 |
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| 引用本文： | 蔡旭东,曲丰,崔滋刚,李昌. 基于鲁棒反馈线性化的船舶航向鲁棒内模控制[J]. 舰船科学技术, 2011, 33(12): 37-41. DOI: 10.3404/j.issn.1672-7649.2011.12.008 |
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| 作者姓名： | 蔡旭东 曲丰 崔滋刚 李昌 |
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| 作者单位： | 海军91388部队92分队,广东湛江,524022 |
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| 摘 要： | 针对具有不确定项的船舶航向非线性数学模型,结合鲁棒反馈线性化方法和鲁棒内模控制算法设计出了船舶航向的鲁棒内模控制器.该方法先将船舶航向非线性数学模型鲁棒线性化,在补偿型船舶航向鲁棒控制律的基础上,设计出内模控制算法.鲁棒内模控制器中的反馈滤波器可以抑制参数摄动引起的实际输出与模型输出的误差,并对相关参数进行在线校正.以...
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| 关 键 词： | 船舶航向控制 非线性系统 内模控制 鲁棒线性化 |
Robust internal mode control for ship autopilot based on robust feedback linearization |
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| CAI Xu-dong,QU Feng,CUI Zi-gang,LI Chang. Robust internal mode control for ship autopilot based on robust feedback linearization[J]. Ship Science and Technology, 2011, 33(12): 37-41. DOI: 10.3404/j.issn.1672-7649.2011.12.008 |
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| Authors: | CAI Xu-dong QU Feng CUI Zi-gang LI Chang |
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| Affiliation: | CAI Xu-dong,QU Feng,CUI Zi-gang,LI Chang(92 Unit of 91388 Naval,Zhanjiang524022,China) |
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| Abstract: | In allusion to the nonlinear uncertain ship model,a robust internal mode controller for ship autopilot was put forward by using robust feedback linearization technique and robust internal mode control algorithm.The feedback filter in robust internal mode control was employed to dispel the error caused by parameter perturbation between model output and anticipant output,where the parameters were on-line tuned.The simulation results based on the Matlab/Simulink package showed that the effectiveness of the des... |
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| Keywords: | ship autopilot control nonlinear system internal model control robust linearization |
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