摘要
针对船舶直线航迹控制问题,提出一种基于后推法的自适应控制方法,该方法与动态面(DSC)相结合,减少了后推方法产生的计算量.在船舶模型中存在方向未知的不确定虚拟控制增益函数,为避免可能存在的控制器奇异值问题,将Nussbaum增益技术融入该方法中,减少了整个系统的在线学习参数,便于计算机实现.仿真结果表明,该方法可以实现船舶直线航迹控制.
In order to solve the problem of ship linear path-keep- ing control, this paper proposes an adaptive control method based on backstepping technique. Combining with dynamic surface control （DSC）, the algorithm reduces the computational com- plexity caused by the baekstepping method. Nussbaum is used to solve the possible controller singularity problem. This method de- creases the number of on-line learning parameters dramatically. Simulation results show that the proposed algorithm can realize the ship track-keeping control.
出处
《大连海事大学学报》
CAS
CSCD
北大核心
2013年第4期9-12,共4页
Journal of Dalian Maritime University
