船舶航向非线性系统的鲁棒控制

PDF(117 KB)

大连海洋大学学报 ›› 1999, Vol. 14 ›› Issue (4) : 43-47.

船舶航向非线性系统的鲁棒控制

于晓利

作者信息 +

Robust control algorithm applied to ship steering autopilot with nonlinear system

Yu Xiaoli

Author information +

文章历史 +

摘要

考虑在船舶航向控制系统模型中存在的非线性，并假设模型参数和外界干扰有界的情况下，利用Ｌｙａｐｕｎｏｖ稳定性理论，提出了一种鲁棒控制新算法。以一艘５０００ｔ级杂货船为例，进行了鲁棒控制自动舵设计，并利用Ｍａｔｌａｂ工具箱进行了仿真研究，结果证明该算法完全正确。

Abstract

A robust control algorithm is proposed for autopilot with nonlinear system based on known parameter boundness of the system and known boundness of input disturbance by use of the theory of Lyapunov stability An example illustrating the method described is presented for a 5000 t general carog ship The simulation shows that the controller can make the designed system guarantee the required performance

导出引用

于晓利. 船舶航向非线性系统的鲁棒控制[J]. 大连海洋大学学报, 1999, 14(4): 43-47

Yu Xiaoli. Robust control algorithm applied to ship steering autopilot with nonlinear system[J]. Journal of Dalian Fisheries University, 1999, 14(4): 43-47

中图分类号： U664.36 TP273.2