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一种非线性反馈反步递推算法的线性弱化

DOI: 10.13195/j.kzyjc.2014.0854, PP. 1641-1645

Keywords: 船舶运动控制,航向保持,反步递推,非线性反馈,闭环增益成形

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Abstract:

为了解决反步递推算法应用于船舶航向控制中输出能量大且非线性部分难以对消的实际问题,首先对原有的反步递推算法进行线性弱化,然后利用正弦函数驱动的非线性反馈控制技术代替原有的线性误差反馈.理论分析表明,该算法能够保证控制效果相当或更优的前提下,降低控制能量.以“育龙”轮为载体开展仿真实验,结果表明所提出的新型非线性反馈控制律在鲁棒性、控制能量需求方面具有明显的优势.

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