信息与控制2012，Vol.41Issue(2)：136-141,6.DOI:10.3724/SP.J.1219.2012.00136
基于自适应模糊滑模控制的船舶航向控制器设计
Controller Design Based on Adaptive Fuzzy Sliding Mode Control for Ship Course
摘要
Abstract
Considering the nonlinear characteristics, modeling uncertainties and external disturbances such as wind, wave and flow in ship motion systems, an adaptive fuzzy sliding mode control (AFSMC) technology is presented to solve the ship course control problem. The fuzzy logic system is used to approximate the unknown system function and the adaptive fuzzy sliding mode controller is designed by combining sliding mode control technology with adaptive fuzzy control technology. The chattering problem of sliding mode control is relieved by adopting PI (proportional-integral) control instead of sliding mode control switching items within the boundary layer. Based on the Lyapunov function, it is theoretically proved that the controller makes all signals in the system of ship motion uniformly bounded, and using Barbalat's lemma, the tracking errors converge to zero. Simulation experiments on the course keeping and change in the presence of parameter perturbation and environment disturbances are conducted, and similar output responses with those under no perturbation and no interference circumstances by the controller based on AFSMC are obtained. The experiment results show that the proposed controller can handle system uncertainties and external disturbances effectively, and has superior controlling performance and strong robustness.关键词
航向控制/非线性系统/滑模控制/自适应模糊控制/鲁棒性Key words
ship course control/ nonlinear system/ sliding mode control/ adaptive fuzzy control/ robustness分类
交通工程引用本文复制引用
刘文江,隋青美,周风余,肖海荣..基于自适应模糊滑模控制的船舶航向控制器设计[J].信息与控制,2012,41(2):136-141,6.基金项目
山东省自然科学基金资助项目(ZR2009FL013) （ZR2009FL013）
山东省高校科技计划资助项目(J11LG76) （J11LG76）
