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针对船舶直线航迹控制问题,提出一种基于后推法的自适应控制方法,该方法与动态面(DSC)相结合,减少了后推方法产生的计算量.在船舶模型中存在方向未知的不确定虚拟控制增益函数,为避免可能存在的控制器奇异值问题,将Nussbaum增益技术融入该方法中,减少了整个系统的在线学习参数,便于计算机实现.仿真结果表明,该方法可以实现船舶直线航迹控制.
Aiming at the problem of ship’s linear track control, an adaptive control method based on backstepping method is proposed, which combines with dynamic surface (DSC) to reduce the computational load caused by backstepping method. In the ship model, In order to avoid the possible controller singular value problem, Nussbaum gain technology is integrated into this method to reduce the online learning parameters of the whole system, which is convenient for computer implementation.The simulation results show that this method can realize the straight line Track control.