精确反馈线性化在船舶航向保持器上的应用

现有的船舶航向保持器的设计大都采用Nomoto线性模型，而忽略了船舶操纵运动的非线性因素，因此航向控制的精度比较低。选择状态反馈精确线性化方法，将响应型船舶运动的非线性数学模型进行线性化，再利用基于闭环增益成形算法的鲁棒控制器进行控制，然后在Maflab的Simulink下进行系统仿真，仿真结果表明，所设计的基于闭环增益成形算法的控制器比基于LQR的控制器具有更好的控制能力。

Course Keeping Autopilot for Ships Based on Exact Feedback Lineralization

Most designs for course - keeping autopilot for ships adopt linear Nomoto model and neglect its nonlinear factors. For this reason the accuracy of course - keeping is low. The nonlinear mathematic model for ships is linearized via exact feedback linearization, and then the robust controUer based on closed - loop gain shaping algorithm controls the model for ships. Under the Simulink condition, the simulation results show that the controller based on closed- loop gain shaping has better performance to the nonlinear mathematic model compared with that based on LQR.