| 船舶航迹控制鲁棒自适应模糊设计 |
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| 引用本文： | 李铁山,杨盐生,洪碧光,秦永祥. 船舶航迹控制鲁棒自适应模糊设计[J]. 控制理论与应用, 2007, 24(3): 445-448 |
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| 作者姓名： | 李铁山 杨盐生 洪碧光 秦永祥 |
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| 作者单位： | 上海交通大学,船舶海洋与建筑工程学院,上海,200030;大连海事大学,航海学院,辽宁,大连,116026;大连海事大学,航海学院,辽宁,大连,116026 |
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| 基金项目： | 国家自然科学基金资助项目(60474014,10572094); 教育部高等院校博士点基金资助项目(20020151005) |
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| 摘 要： | 研究了船舶直线航迹控制问题.基于Lyapunov稳定性理论,将Nussbaum增益技术融入Backstepping设计方法之中,利用模糊系统逼近系统中的未知非线性,提出一种鲁棒自适应模糊控制算法.该算法保证了闭环系统的信号是一致最终有界的,使得系统输出收敛到零的一个较小邻域,从而能够实现船舶的直线航迹控制;而且,该算法不需要高频增益符号的任何信息,还解决了可能存在的控制器奇异值问题.计算机仿真结果验证了控制器的有效性.
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| 关 键 词： | 船舶 航迹控制 非线性控制 鲁棒自适应模糊控制 虚拟控制增益 |
| 文章编号： | 1000-8152（2007）03-0445-04 |
| 收稿时间： | 2005-08-15 |
| 修稿时间： | 2005-08-152006-04-23 |
Robust adaptive fuzzy design for ships track-keeping control |
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| LI Tie-shan,YANG Yan-sheng,HONG Bi-guang,QIN Yong-xiang. Robust adaptive fuzzy design for ships track-keeping control[J]. Control Theory & Applications, 2007, 24(3): 445-448 |
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| Authors: | LI Tie-shan YANG Yan-sheng HONG Bi-guang QIN Yong-xiang |
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| Affiliation: | School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200030, China;Navigation College, Dalian Maritime University, Dalian Liaoning 116026, China |
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| Abstract: | The problem of ship linear path-keeping control is discussed.With the help of Lyapunov stability theory,Combined Nussbaum gain with the backstepping techniques,a novel algorithm is then proposed by employing fuzzy systems as approximator of those unknown nonlinearities in the system.It is also proved that the proposed algorithm could guarantee the closed-loop system to be uniformly ultimately bounded and the output converges to a small neighborhood of zero,so that ship linear path-keeping control can be implemented.Finally,simulation results are presented to validate the effectiveness. |
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| Keywords: | ships track-keeping control nonlinear control robust adaptive fuzzy control virtual control gain |
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