基于输入输出线性化的自适应模糊滑模航迹控制

摘要

针对船舶直线航迹控制的非线性特性,设计一种基于输入输出线性化的自适应模糊滑模控制器,并利用Lyapunov理论,证明该系统在所设计控制器作用下全局渐近稳定,Simulink仿真结果表明,所设计控制器能够有效抑制常规滑模所固有的稳态抖振现象,且在参数摄动及风浪干扰下具有强鲁棒性,较好的实现了对设定航迹的跟踪.%To the nonlinear of the ship's track-keeping control system, adaptive fuzzy sliding mode controller based on input-output linearization was designed . With the help of Lyapunov theory, the system is demonstrated to be global asymptotic stability. Simulation results indicate that the proposed approach is robust under the parameter perturbation and external disturbance, it also can avoid the chattering phenomenon in traditional sliding mode control and follow the set track effectively.