基于鲁棒反馈线性化的船舶航向鲁棒内模控制

摘要

针对具有不确定项的船舶航向非线性数学模型,结合鲁棒反馈线性化方法和鲁棒内模控制算法设计出了船舶航向的鲁棒内模控制器.该方法先将船舶航向非线性数学模型鲁棒线性化,在补偿型船舶航向鲁棒控制律的基础上,设计出内模控制算法.鲁棒内模控制器中的反馈滤波器可以抑制参数摄动引起的实际输出与模型输出的误差,并对相关参数进行在线校正.以某船为例,利用Matlab/Simulink工具箱进行仿真研究,结果表明所设计的鲁棒控制器具有较好的控制性能,对风浪干扰也具有很强的鲁棒性.%In allusion to the nonlinear uncertain ship model,a robust internal mode controller for ship autopilot was put forward by using robust feedback linearization technique and robust internal mode control algorithm. The feedback filter in robust internal mode control was employed to dispel the error caused by parameter perturbation between model output and anticipant output, where the parameters were on-line tuned. The simulation results based on the Matlab/Sitnulink package showed that the effectiveness of the designed controller. It can track the desired course accurately and exhibit strong robustness peculiarity to the uncertainties of nonlinear ship model.