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基于变结构自抗扰的欠驱动水面船舶航迹保持控制

DOI: 10.16411/j.cnki.issn1006-7736.2015.03.002, PP. 10-14

Keywords: 欠驱动水面船舶,航迹保持,变结构自抗扰

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Abstract:

针对受内部动态不确定和外界风流影响下的欠驱动水面船舶直线航迹保持问题,将变结构控制引入非线性自抗扰控制器中,在保证原控制器优点的同时,大大减少了需要整定的参数.同时构造降维方程,使航迹控制问题转变为简单的跟踪参考航向问题.仿真结果表明,新控制器具有较好的控制效果,可使船舶对直线航迹精确跟踪,且具有较强的鲁棒性.

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