船舶航向非线性系统的输出反馈鲁棒控制-交通运输工程学报.pdf

第 2卷　第 1期 交 通 运 输 工 程 学 报 Vol. 2　 No. 1 2002年 3月 Journal of Traffic and Transportation Engineering M ar. 2002 : 1 71-1 37( 2002) 01-0118-04 杨盐 生 ( , 　 11 02 ) 　: 考虑船舶航向控制系统模型中存在 线性,假设模型参数和外界干扰有界的情况下,首先 利用 Lyapunov 稳定性理论,提出了一种状态反馈鲁棒控制新算法的自动舵设计,进而考虑到实际 船舶上,在进行航向控制时,并不是所有船舶运动状态都是可测的,仅有航向是可测的,采用 一种高 增益状态观测器对状态进行重构,提出了输出反馈鲁棒控制自动舵设计。以大连海事大学远洋实习 船“育龙轮”为例,进行了输出反馈鲁棒控制自动舵设计,并利用 Matlab工具箱进行了仿真研究,结 果证明该算法是十分有效的。 : 线性系统;输出反馈控制;鲁棒控制;船舶航向控制 : U 4. 3 ; TP273. 2　　　: A Output f eedback robust control algorithm applied to ship steering autopilot with uncertain nonlinear system YAN G Yan -sheng ( , , 11 02 , ) School of Navigation Dalian Maritime University Dalian China Abstract: A state feedback robust control algorithm is presented for ship steering autopilot w ith uncertain nonlinear system based on know n parameter bound of the system and know n bound of input disturbance by use of the theory of Lyapunov stability Owing to not all states of ship. motion being achieved and only ship course can be measured on board, so a high-gain observer is proposed to estimate the states of ship motion and then a output feedback robust control . algorith m is developed An example illustrating the method described is included for ocean going . training ship It is show n that the controller can make the designed system guarantees the satisfied performance by simulation based on the Matlab Simulink package. Key words: nonlinear system; output feedback control; robust control; ship autopilot : - ( 1957-) , , . .