FILTERING BACK-STEPPING SHIP MOTION CONTROL SYSTEM BASED ON ADAPTIVE FUZZY ESTIMATOR

摘要

the present invention is to provide an adaptive fuzzy estimator based on the filtered back-stepping ship motion control system. The system control system (2), guide (4), diffeomorphism converter 6, a data processing system (7) and the sensor system includes a 12, and the guide system (4) at each time of the ship obtaining a forward position, the forward player direction and the expected speed of the sensor system 12 includes a position and attitude sensor 11 and speed sensor 10, and the data processing system 7 is data fusion system 9 and including a filter system (8), and the control system (2) comprising a filter bag stepping controller 3 and the adaptive fuzzy estimator (5), adaptive fuzzy estimator (5) has a guide system (4) and the diffeomorphism receiving data of the converter 6 at the same time, filter bag stepping controller (3) has a guide system (4) forward information and their derivatives provided by, diffeomorphism converter 6, a new state variable information and adapt the purge provided by the receives the estimated output to the unknown non-linear function provided by the estimator (5) at the same time. ;