| 船舶航向保持的滑模变结构自适应模糊控制研究 |
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| 引用本文： | 袁雷,吴汉松,陈楠.船舶航向保持的滑模变结构自适应模糊控制研究[J].西华大学学报(自然科学版),2010,29(4):1-4. |
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| 作者姓名： | 袁雷 吴汉松 陈楠 |
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| 作者单位： | 1. 海军工程大学电气与信息工程学院,湖北,武汉,430033
2. 91206部队,山东,青岛,266071 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 针对船舶航向非线性控制系统中存在未知控制增益,参数不确定性和外界干扰的影响,通过引入Nussbaum函数,利用模糊逻辑系统的逼近能力,将多滑模控制与自适应模糊控制相结合,提出一种新的多滑模自适应模糊控制算法,实现了船舶航向的跟踪控制,并且在设计过程中,避免了控制器奇异值问题的发生。借助Lya-punov函数证明了所设计控制器使船舶运动非线性系统中所有信号有界,且跟踪误差收敛到零的某个邻域内。仿真结果表明,所设计的控制器能够快速准确地跟踪设定航向,对参数摄动和外界扰动具有较强的鲁棒性。
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| 关 键 词： | 船舶航向控制 非线性系统 滑模控制 自适应 Nussbaum增益 |
Study on Self-adapting Fuzzy Control with Sliding-mode Variable Structure for Course Keeping of Ship |
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| YUAN Lei,WU Han-song,CHEN Nan.Study on Self-adapting Fuzzy Control with Sliding-mode Variable Structure for Course Keeping of Ship[J].Journal of Xihua University:Natural Science Edition,2010,29(4):1-4. |
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| Authors: | YUAN Lei WU Han-song CHEN Nan |
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| Affiliation: | YUAN Lei1,WU Han-song1,CHEN Nan2 (1.College of Electrical and Information Engineering,Naval University of Engineering,Wuhan 430033 China,2.Unit No.91206,Qingdao 266071 China) |
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| Abstract: | Considering the characteristics of unknown control gain,parametric uncertainties and disturbances in nonlinear control of ship course,a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology,the approximation property of fuzzy logical system and multiple sliding-mode control algorithm.Based on the Lyapunov function,it was proved in theory that the controller made all signals in the nonlinear system of ship motion uniformly bounded,with tracking errors c... |
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| Keywords: | ship course control nonlinear system sliding-mode control adaptive Nussbaum gain |
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