未知时变扰动和输入饱和下的智能船舶鲁棒非线性控制

复杂海况下环境多变并且船舶具有多耦合、强非线性的特点，针对智能船舶定位控制问题，考虑在未知时变扰动和输入饱和约束之下船舶的定位控制问题，结合非线性扰动观测器提出一种带辅助动态系统的鲁棒非线性控制算法。通过Lyapunov理论证明了所提出的非线性扰动观测器与控制器结合后闭环系统的稳定性和信号的一致最终有界性。利用非线性扰动观测器对环境中存在的海浪扰动进行有效的估计处理。最后，通过仿真验证了所提出的控制算法不仅能保证船舶期望的位置和艏向，而且提高了控制速度，具有较好的控制性能。

Robust Nonlinear Control of Intelligent Ships with Unknown Time-varying Disturbance and Input Saturation

The environment is changeable under complex sea conditions and the ship has multiple couplings and strong nonlinearity. Aiming at the problem of intelligent ship positioning control, considering the problem of ship positioning control under unknown time-varying disturbance and input saturation constraint, a robust nonlinear control law with auxiliary dynamic system is proposed based on nonlinear disturbance observer. The Lyapunov theory is used to prove the stability of the closed-loop system and the consistent final boundedness of the proposed closed-loop system. The nonlinear disturbance observer is used to effectively estimate the ocean wave disturbances in the environment. Finally, it is verified by simulation that the proposed control algorithm can not only ensure the desired position and orientation of the ship, but also improve the control speed and have better control performance.