基于Backstepping的非线性船舶航迹跟踪控制器设计

摘要

针对船舶动态存在大惯性、时滞、非线性等特点,和船舶航行中易受海风、海浪、洋流等环境因素的影响的问题,考虑三自由度非线性船舶运动数学模型.基于Backstepping设计思想,设计了具有全局渐近稳定的船舶航迹跟踪控制器.Simulink仿真结果表明,船舶实际航迹能够跟踪期望航迹,达到了满意的控制效果,验证了所设计控制器的有效性.%Because of the existing of large inertia, delay and nonlinear in ship' s dynamic, and the influence of environmental factors, such as wind, wave and current, during navigation, based on Backstepping algorithm, a ship trajectory tracking controller is designed to the 3DOF nonlinear ship movement model. The controller is global asymptotically stable. The Simulink Simulation results show that the actual trajectory can track the desired one, which verifies the effectiveness of the designed controller.