基于非线性干扰观测器的减摇鳍滑模反演控制

利用一种非线性干扰观测器观测减摇鳍系统的不确定性和随机海浪干扰,通过选择设计参数使观测误差指数收敛.针对引入非线性干扰观测器后的系统采用滑模反演法设计控制器,控制律的设计保证了闭环系统的稳定性.仿真结果表明,在不同浪向角和航速的各种海况下采用该控制策略,系统均能取得较好的减摇效果,同时能很好地克服对象的不确定性和随机海浪干扰,鲁棒性较强.

Sliding backstepping control for fin stabilizer with nonlinear disturbance observer

A nonlinear disturbance observer(NDO) is used to observe the uncertainties and random wave disturbances of fin stabilizer system. By selecting the design parameters, the nonlinear disturbance observer is made in exponential convergence. Subsequently, sliding backstepping controller is designed for the system with nonlinear disturbance observer. The proposed controller can guarantee the stabilization of the closed-loop system. The simulation results show that the control strategy
is effective to decrease the roll motion of fin stabilizer control system at various sea conditions of different wave direction angles and speeds, and the controller has strong robust stability to overcome the uncertainties and random wave disturbances.