基于输入状态线性化的船舶航迹系统鲁棒控制及仿真

摘要

In allusion to the nonlinear ship model and the Nomoto ship model, a robust controller for ship＇s tracking control system designed by using robust Hoo closed-loop gain shaping technique and the input-state feedback linearization technique is given in the paper. The controller is based on input-state feedback linearization technique, adding the losed-loop gain shaping technique. The simulation results based on the Matlab/ Simulink package show that the validity of the sufficient conditions, and the controller can track a desired course fast under uncertain conditions and accurately, exhibit strong robustness peculiarity to the uncertainties of nonlinear ship model.%本文将Hoo环增益成形鲁棒控制与输入状态精确反馈线性化结合，针对船舶航迹控制系统的非线性数学模型，采用Nomoto船舶模型，给出了一种鲁棒控制器的设计方法。这种算法是对船舶航迹非线性系统进行输入一状态线性化的基础上，然后与闭环增益成形算法相结合而设计出来的控制律。以某船为对象，利用Matlab／Simulink工具箱对新的控制器进行数值仿真，结果表明该控制规律有比较理想的控制效果，在加入扰动后，该控制器能使船舶行驶在预设航迹上，对外界风浪干扰有较强的鲁棒性。