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增益系数未知条件下不确定船舶航向保持鲁棒λ调节控制

DOI: 10.16411/j.cnki.issn1006-7736.2015.02.005, PP. 30-34

Keywords: 船舶,航向控制,鲁棒控制,预设镇定边界

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Abstract:

为更有效处理船舶航向保持系统中一般不确定性,即系统漂移不确定和控制增益系数未知,通过构建考虑预设镇定边界的Lyapunov能量函数,结合自适应Backstepping方法,提出一种具有预设镇定边界的鲁棒λ调节控制.该算法中自适应参数只需在控制误差超出镇定边界时进行在线调节,符合船舶控制工程需求.以大连海事大学“育龙”轮为研究对象进行仿真试验,结果验证了该算法的有效性.

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