哈尔滨工程大学学报2016，Vol.37Issue(5)：640-645,6.DOI:10.11990/jheu.201507026
考虑暂态／稳态性能的船舶航向保持控制
Robust course-keeping control for ships with the prescribed transient/steady performance
摘要
Abstract
To supplement the control design for the ship course⁃keeping system with the model uncertainty and exter⁃nal nonzero time⁃varying disturbances, a robust adaptive control scheme is proposed that uses the popular backstep⁃ping method, the prescribed performance function and the system⁃transformation method. By employing the inherent structural characteristics of marine ships, the new prescribed performance function is related to the initial error signal and its sign, which could avoid the defect that the controller requires to be resetted for the different initial error signal and its sign.Compared with the existing results, the proposed algorithm has the advantages of pre⁃setting the transient performance of the closed⁃loop system, specifically the overshoot and the rate of convergence. Numerical simulation results and theoretical analysis illustrate the effectiveness of the proposed scheme.关键词
船舶/航向保持/Backstepping/指定控制性能/暂态性能/鲁棒控制Key words
ship/course-keeping/backstepping/prescribed performance/steady performance/robust control分类
信息技术与安全科学引用本文复制引用
田佰军,刘正江,郑云峰..考虑暂态／稳态性能的船舶航向保持控制[J].哈尔滨工程大学学报,2016,37(5):640-645,6.基金项目
国家自然科学基金资助项目（51179019）． （）
