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首页> 外文会议>International Conference on Measuring Technology and Mechatronics Automation >Course Keeping Control for Ships Based on Bipolar Sigmoid Function Nonlinear Feedback
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Course Keeping Control for Ships Based on Bipolar Sigmoid Function Nonlinear Feedback

机译：基于双极性S形函数非线性反馈的船舶航向控制

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摘要

In order to make the ship course keeping algorithm more energy-efficient, this paper used the closed-loop gain shaping algorithm to design the linear controller, and then used a kind of bipolar sigmoid function nonlinear feedback to replace the original linear feedback. Theoretical analysis showed that in the same control effect, the proposed algorithm could reduce control energy. Took the ship Yukun to do computer simulation by using Simulink Toolbox of MATLAB, and the results indicated that the designed controller based on nonlinear feedback had good robustness. The average rudder angle was reduced by more than 10%. The proposed algorithm is concise and effective.
机译：为了使船舶航向算法更加节能，本文采用闭环增益整形算法设计线性控制器，然后采用双极性S形函数非线性反馈代替原有的线性反馈。理论分析表明，在相同的控制效果下，该算法可以降低控制能量。通过使用MATLAB的Simulink Toolbox，使Yukun船进行了计算机仿真，结果表明所设计的基于非线性反馈的控制器具有良好的鲁棒性。平均舵角减小了10％以上。所提出的算法简洁有效。

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