基于反步的船舶航向保持非线性控制器稳定集鲁棒参数的确定

IF 0.7 4区工程技术 Q4 ENGINEERING, MARINE

International Journal of Maritime Engineering Pub Date : 2021-12-13 DOI:10.5750/ijme.v158ia3.995

X. K. Zhang, G. Zhang

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引用次数: 5

摘要

为了解决反推方法不能有效保证闭环系统的鲁棒性的问题，本文提出了一种新的参数确定方法。基于船舶操纵经验知识和闭环成形理论，导出的参数在原始稳定集中属于一个降阶鲁棒群。从理论上得到了一致渐近稳定性。选择训练船“玉龙”号和油轮“大庆232”号作为模拟实验装置。仿真结果验证了该算法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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DETERMINING ROBUST PARAMETERS IN STABILIZING SET OF BACKSTEPPING BASED NONLINEAR CONTROLLER FOR SHIP COURSE KEEPING

In order to solve the problem that backstepping method cannot effectively guarantee the robust performance of the closed-loop system, a novel method of determining parameter is developed in this note. Based on the ship manoeuvring empirical knowledge and the closed-loop shaping theory, the derived parameters belong to a reduced robust group in the original stabilizing set. The uniformly asymptotic stability is achieved theoretically. The training vessel “Yulong” and the tanker “Daqing232” are selected as the plants in the simulation experiment. And the simulation results are presented to demonstrate the effectiveness of the proposed algorithm.

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来源期刊

International Journal of Maritime Engineering ENGINEERING, MARINE-

CiteScore

1.20

自引率

0.00%

发文量

审稿时长

>12 weeks

期刊介绍： The International Journal of Maritime Engineering (IJME) provides a forum for the reporting and discussion on technical and scientific issues associated with the design and construction of commercial marine vessels . Contributions in the form of papers and notes, together with discussion on published papers are welcomed.