船电技术2012，Vol.32Issue(4)：16-18,3.
基于Backstepping的船舶航向自适应滑模控制
Adaptive Sliding Mode Control Based on Backstepping for Marine Autopilot Systems
王林 1陈楠 2高嵬3
作者信息
- 1. 海军驻武汉701所军事代表室,武汉430064
- 2. 91206部队,山东青岛266071
- 3. 海军工程大学电气与信息工程学院,武汉430033
- 折叠
摘要
Abstract
An adaptive sliding mode control algorithm based on backstepping is proposed for Norrbin nonlinear ship model.In the procedure,a disturbance compensator is designed to eliminate the influence of system disturbance.By means of Lyapunov function,it is theoretically proved that the control strategy may make the closed-loop system globally asymptotically stable,with tracking errors converging to zero.The discussed controller has better tracking capabilities and faster response rapidity than traditional proportional-integral-derivative（PID） controllers.关键词
船舶自动舵/外界干扰/Backstepping/滑模控制Key words
ship autopilot/external disturbances/backstepping/sliding mode分类
信息技术与安全科学引用本文复制引用
王林,陈楠,高嵬..基于Backstepping的船舶航向自适应滑模控制[J].船电技术,2012,32(4):16-18,3.
