摘要
针对不完全驱动船舶直线航迹控制系统的非线性数学模型,采用Lyapunov直接法和非线性反步法,给出了一种状态反馈控制律.该控制律克服了艏摇角速度不能为零的局限,使偏航船舶渐近镇定于给定的直线参考航迹,并以实习船为例,用Matlab Simulink工具箱进行仿真.结果表明,所提出的控制律具有良好的控制效果.
In this paper, a state feedback control law is presented using the Lyapunov direct method and nonlinear backstepping with nonlinear mathematical model of straight-line tracking control system of under actuated ships. The control law can remove the constraints that the yaw rate is required to be nonzero, and can make the off-course ship be stable on the given straight reference line. The simulation result by the Matlab Simulink toolbox on an ocean-gomg trainmg ship presents that the proposed controller has good controlling effect.
出处
《船舶工程》
CSCD
北大核心
2008年第4期64-67,共4页
Ship Engineering
基金
浙江省科技计划项目(No.2007C21G2020109)
