西华大学学报（自然科学版）Issue(1)：103-107,5.DOI:10.3969/j.issn.1673-159X.2015.01.0
基于Backstepping的欠驱动船舶神经滑模航迹控制
Neural Sliding Mode Control for Tracking of Underactuated Ships Based on Backstepping
摘要
Abstract
As for uncertain external interference and parameters, a self-adaptive neural sliding mode controller based on backstep-ping is designed for underactuated ships powered by wind, wave and flow. The chattering problem brought on by fixed switching coeffi-cient of traditional sliding mode control ( SMC) is restrained by using approaching-law SMC. And the neural network is utilized to re-duce the dependence on plant model’ s parameters in approaching-law SMC. Results of a ship simulation indicate that the controller can effectively keep the given track and avoid the chattering phenomenon occurring in traditional sliding mode control and it can also control well under the external disturbance and parameter perturbation, which shows the controller strong robust.关键词
欠驱动船舶/非线性/航迹控制/Backstepping/神经滑模控制Key words
underactuated surface ships/nonlinear/track-keeping control/Backstepping/neural siding-mode control分类
信息技术与安全科学引用本文复制引用
李湘平,吴汉松,阮苗锋..基于Backstepping的欠驱动船舶神经滑模航迹控制[J].西华大学学报（自然科学版）,2015,(1):103-107,5.基金项目
国家自然科学基金(51177168) （51177168）
