基于反馈线性化的船舶自动舵模糊滑模控制

针对船舶航向自动舵控制系统的非线性数学模型,应用基于微分几何的反馈线性化方法,将原非线性系统等价为完全可控型线性化模型,然后设计了滑模变结构控制器,并利用模糊控制器实现了滑模趋近律的参数自整定,设计方法简单可行。仿真结果表明,所设计的模糊滑模控制器能够快速准确地跟踪设定航向,并对参数摄动和外界风浪干扰具有很强的鲁棒性,同时消除了系统的抖振现象,优于传统的滑模控制。

Abstract：

According to the nonlinear model of ship autopilot system and using the feedback linearization procedure of differential geometry,an equivalent,fully controllable and linear model was derived via a homomorphism transformation and a fuzzy reaching law sliding mode controller was designed.The simulation results show that the controller designed here,which is superior to traditional sliding mode control,can track a desired course fast and accurately.It also exhibits strong robustness peculiarity to system uncertainties and avoiding chatting phenomenon.     

一类不确定非线性系统的参数自适应滑模控制

针对一类具有不确定性的非线性系统,考虑参数摄动、未建模动态和外界干扰等各种不确定性的综合影响,提出了一种基于切换增益和sigmoid函数边界层厚度的参数自适应滑模控制策略,采用李雅普诺夫稳定性理论证明了闭环系统全局稳定性.该控制方法消除了传统滑模控制的输入抖振现象,而且跟踪精度高,无须确知不确定项的界.仿真算例验证了该方法的有效性.