引用本文:杜佳璐, 郭　晨.控制增益未知的船舶航向非线性自适应跟踪控制(英文)[J].控制理论与应用,2005,22(2):315~320.[点击复制]
DU Jia-lu, GUO Chen.Nonlinear adaptive design for course-tracking control of ship without a priori knowledge of control gain[J].Control Theory and Technology,2005,22(2):315~320.[点击复制]
控制增益未知的船舶航向非线性自适应跟踪控制(英文)
Nonlinear adaptive design for course-tracking control of ship without a priori knowledge of control gain
摘要点击 1422  全文点击 1985  投稿时间：2003-09-12  修订日期：2004-05-21
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DOI编号  
  2005,22(2):315-320
中文关键词  船舶航向跟踪控制  自适应控制  非线性  参数不确定  逆推算法  Nussbaum增益
英文关键词  ship course tracking control  adaptive control  nonlinear  parameter uncertainty  backstepping algorithm  Nussbaum gainCLC number: TP271Document code: A
基金项目  The Ministry of Communications of China(95-05-05-32);the Foundation of China Scholarship Council([1999]5003);theFoundation of the State Key Laboratory of Intelligent Technology and Systems.tsinghua University,China(0107).
作者单位
杜佳璐, 郭　晨 大连海事大学 自动化与电气工程学院,辽宁 大连 116026
大连海事大学 航海动态仿真与控制重点实验室,辽宁 大连116026
清华大学 智能技术与系统国家重点实验室,北京 100084 
中文摘要
      针对参数不确定的船舶运动非线性控制系统控制方向未知的困难,将逆推算法与Nussbaum增益方法相结合,提出一种新的自适应非线性控制策略,从而实现船舶运动航向跟踪控制.首先,从理论上证明了所设计的自适应控制器保证最终的控制系数符号未知的参数不确定船舶运动非线性系统中所有信号一致有界,船舶的实际航向全局自适应地渐近跟踪期望的参考航向.对两条船舶数学模型的仿真实验结果表明,所设计的自适应非线性跟踪控制器具有良好的适应性及鲁棒性.
英文摘要
      A nonlinear adaptive control strategy is proposed to solve the problem of uncertainty and nonlinearity of the ship steering mathematical model.The presented method which incorporates Nussbaum gain technique into adaptive backstepping algorithm is especially useful in dealing with the unknown sign of uncertain control coefficient.It is at first proved theoretically that the presented adaptive controller guarantees that all signals in the parameter uncertain nonlinear ship motion system without a priori knowledge about control directions are uniform bounded,and the output of the controlled uncertain nonlinear ship motion system asymptotically tracks the output of the ship course reference model.Then,simulation studies are carried out by utilizing Matlab's Simulink toolbox.The results of the simulation of two ships'steering models show that the designed controller can be applied to the ship course tracking with good compatibility and robustness.