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大连海事大学学报 2013

基于Lyapunov稳定性的船舶参数激励横摇非线性简捷鲁棒控制

, PP. 23-26

马磊,张显库

Keywords: 船舶,Lyapunov稳定性,参数激励横摇,非线性鲁棒控制

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Abstract:

为减小参数激励带来的不利因素，需要非线性鲁棒控制器对系统稳定性进行控制.为简化船舶参数横摇非线性控制器设计过程，通过构建Lyapunov能量函数，将设计步骤由2步变为1步，减少了控制器参数的整定数量，避免了非线性控制律对消系统的非线性项.仿真结果表明,采用以上方法设计的非线性简化控制器对于消除船舶参数横摇系统的大幅横摇十分有效，并且具有一定的鲁棒性.

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