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首页> 外文期刊>Intelligent automation and soft computing >ADAPTIVE ROBUST NONLINEAR SHIP COURSE CONTROL BASED ON BACKSTEPPING AND NUSSBAUM GAIN
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ADAPTIVE ROBUST NONLINEAR SHIP COURSE CONTROL BASED ON BACKSTEPPING AND NUSSBAUM GAIN

机译：基于Backstepping和NUSSBAUM增益的自适应鲁棒非线性船舶航向控制。

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摘要

Ship steering design presents challenges because the dynamic properties of the vessel itself vary significantly. This paper develops an adaptive robust nonlinear course controller for ship steering with unknown parameters, especially completely unknown control coefficient, and under unknown bounded environmental disturbances induced by waves, wind, and ocean currents. Based on the incorporation of the Nussbaum-type gain into backstepping algorithm and some technical lemmas, the proposed design method does not require any priori knowledge of the sign of the unknown control coefficient. It is proved that the designed adaptive robust controller can guarantee the uniform ultimate boundedness of all signals in the resulting closed-loop system. The control performance can be guaranteed by an appropriate choice of the design parameters. Simulation results on a 45-meter long ship are presented to validate the proposed controller.
机译：船舶转向设计提出了挑战，因为船舶本身的动态特性差异很大。本文针对参数未知，尤其是完全未知的控制系数，并且在由波浪，风和洋流引起的未知有限环境扰动下，开发了一种适用于船舶操纵的自适应鲁棒非线性过程控制器。基于将Nussbaum型增益并入Backstepping算法和一些技术引理，所提出的设计方法不需要任何关于未知控制系数符号的先验知识。实践证明，所设计的自适应鲁棒控制器能够保证所产生的闭环系统中所有信号的一致最终有界性。可以通过适当选择设计参数来保证控制性能。给出了在45米长船上的仿真结果，以验证所提出的控制器。

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