带有海浪滤波器的船舶航向反步自适应输出反馈控制

针对复杂海况下船舶航向控制中的模型非线性、参数不确定和海浪扰动问题,提出了一种基于反步法的非线性自适应输出反馈控制算法.首先基于无源理论设计了一种状态观测器以实现海浪滤波和状态估计,这种观测器无需海浪扰动的方差信息从而减少了观测器参数数量.然后假定系统模型参数未知,基于反步法给出了非线性控制律和参数自适应律.利用Lyapunov理论证明了这种自适应输出反馈控制系统的稳定性.仿真结果表明本文所提控制器具有较好的控制性能,对不确定性模型参数具有良好的自适应性.

Adaptive nonlinear output feedback control with wave filter for ship course

For the control of ship course under various sea states, we propose an adaptive output feedback controller based on backstepping. To achieve the wave filtering and state estimation, a nonlinear observer is developed based on the passivity theory. This observer requires no variance information of the disturbance, thus reducing the number of necessary parameter of the observer. Assuming the model parameters are unknown, we develop a nonlinear control law and the adaptive scheme by the backstopping methods. The stability of the closed-loop system is proved by using Lyapunov theory. Simulation shows that the proposed controller has good performance in operation as well as good adaptability for uncertain model parameters.