干扰及参数扰动条件下的航迹镇定滑模控制

摘要

In the applications background of the underactuated ship motion control, a neural sliding mode control algorithm under the condition of external disturbance and parameter perturbation was proposed. In order to keep the given track and avoid the chattering phenomenon occurring in traditiond sliding mode control and control well under the external disturbance and parameter perturbation, a method based on BP nerual network is presented based on the BP neural network and nonlinear self immunity sliding mode control algorithme was proposed. The simulation results show that the method can effectively deal with wind disturbance,have good robustness.%以欠驱动船舶船迹控制应用为背景，提出一种在外界干扰和参数扰动条件下的船舶镇定滑模控制算法。为有效抑制常规滑模控制器的抖振，提高在受到外部环境干扰和参数摄动时的鲁棒性，提出基于BP神经网络的非线性自抗扰滑模控制算法。仿真结果表明，该方法能够有效应对风流干扰，具有很好的鲁棒性。