| 船舶航向非线性系统的鲁棒控制 |
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| 引用本文： | 于晓利. 船舶航向非线性系统的鲁棒控制[J]. 大连水产学院学报, 1999, 14(4): 43-47 |
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| 作者姓名： | 于晓利 |
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| 作者单位： | 大连水产学院,海渔系,辽宁,大连,116023 |
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| 摘 要： | 考虑在船舶航向控制系统模型中存在的非线性，并假设模型参数和外界干扰有界的情况下，利用Ｌｙａｐｕｎｏｖ稳定性理论，提出了一种鲁棒控制新算法。以一艘５０００ｔ级杂货船为例，进行了鲁棒控制自动舵设计，并利用Ｍａｔｌａｂ工具箱进行了仿真研究，结果证明该算法完全正确。
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| 关 键 词： | 非线性系统 鲁棒控制 船舶航向控制 |
Robust control algorithm applied to ship steering autopilot with nonlinear system |
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| YU Xiao-li. Robust control algorithm applied to ship steering autopilot with nonlinear system[J]. Journal of Dalian Fisheries University, 1999, 14(4): 43-47 |
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| Authors: | YU Xiao-li |
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| Abstract: | A robust control algorithm is proposed for autopilot with nonlinear system based on known parameter boundness of the system and known boundness of input disturbance by use of the theory of Lyapunov stability An example illustrating the method described is presented for a 5000 t general carog ship The simulation shows that the controller can make the designed system guarantee the required performance |
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| Keywords: | nonlinear system robust control ship autopilot |
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