基于Backstepping的船舶航向自适应滑模控制

摘要

An adaptive sliding mode control algorithm based on backstepping is proposed for Norrbin nonlinear ship model.In the procedure,a disturbance compensator is designed to eliminate the influence of system disturbance.By means of Lyapunov function,it is theoretically proved that the control strategy may make the closed-loop system globally asymptotically stable,with tracking errors converging to zero.The discussed controller has better tracking capabilities and faster response rapidity than traditional proportional-integral-derivative（PID） controllers.%针对Norrbin非线性船舶运动数学模型,提出了一种基于Backstepping的自适应滑模控制策略。为了消除外界扰动的影响,引入扰动估计器的设计方法,并借助Lyapunov函数证明了该控制器可以确保闭环系统渐近稳定,使系统的跟踪误差趋于零。与传统的PID控制策略相比,具有较好的跟踪能力和较快的响应速度。