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首页> 外文期刊>The Journal of Navigation >Improved Concise Backstepping Control of Course Keeping for Ships Using Nonlinear Feedback Technique
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Improved Concise Backstepping Control of Course Keeping for Ships Using Nonlinear Feedback Technique

机译：非线性反馈技术在船舶航向中的改进精确后推控制

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摘要

Course keeping for ships is vital for automatic navigation in marine transportation. To improve the control effect and reduce the energy output of the controller, this article proposes an improved concise backstepping controller based on a Lyapunov candidate function by introducing a nonlinear function of course error to replace the course error itself in the feedback loop. The procedure of nonlinear controller design has been reduced from two steps to one step using information from controlled plant to construct the Lyapunov candidate function. Compared with the pure backstepping control, the proposed improved algorithm reserves the nonlinear item of the system, and possesses a strong disturbance rejection ability and robustness to the mathematical model uncertainty. The algorithm given here has advantages of simplified construction method, satisfactory control effect, robustness and energy saving.
机译：船舶的航向对于海上运输中的自动导航至关重要。为了提高控制效果并减少控制器的能量输出，本文提出了一种基于Lyapunov候选函数的改进型简洁反推控制器，通过引入非线性过程误差来代替反馈回路中的过程误差本身。使用来自受控工厂的信息来构造Lyapunov候选函数，非线性控制器的设计过程已从两步减少到了一步。与纯后推控制相比，改进算法保留了系统的非线性项，对数学模型的不确定性具有较强的抗干扰能力和鲁棒性。这里给出的算法具有简化构造方法，令人满意的控制效果，鲁棒性和节能的优点。

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