针对参数不确定的船舶运动非线性控制系统控制方向未知的困难,将逆推算法与Nussbaum增益方法相结合,提出一种新的自适应非线性控制策略,从而实现船舶运动航向跟踪控制.首先,从理论上证明了所设计的自适应控制器保证最终的控制系数符号未知的参数不确定船舶运动非线性系统中所有信号一致有界,船舶的实际航向全局自适应地渐近跟踪期望的参考航向.对两条船舶数学模型的仿真实验结果表明,所设计的自适应非线性跟踪控制器具有良好的适应性及鲁棒性.%A nonlinear adaptive control strategy is proposed to solve the problem of uncertainty and nonlinearity of the ship steering mathematical model. The presented method which iricorporates Nussbaum gain technique into adaptive backstepping algorithm is especially rueful in dealing with the unknown sign of uncertain control coefficient. It is at first proved theoretically that the presented adaptive controller guarantees that all signals in the parameter uncertain nonlinear ship motion system without a priori knowledge about control directions are uniform bounded,and the output of the controlled uncertain nonlinear ship motion system asymptotically tracks the output of the ship course reference model. Then, simulation studies are carried out by utilizing Matlab's Simulink toolbox. The results of the simulation of two ships' steering models show that the designed controller can be applied to the ship course tracking with good compatibility and robustness.
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