鲁棒自适应输出跟踪控制在船舶操纵中的应用

针对带有未知控制增益、常参数不确定性以及外部扰动的船舶运动非线性模型，将自适应逆推技术与Nussbaum增益方法相结合，提出一种新的非线性自适应鲁棒控制策略，实现了船舶运动航向渐近跟踪控制。在所得控制器作用下的系统性能不仅能够通过设计参数而得到保证，且可克服控制器奇异值问题。设计过程及数字仿真结果均表明，所设计的自适应非线性跟踪控制器对不确定性具有良好的适应性及鲁棒性。

Application of Robust Adaptive Output Tracking Control in Ship Maneuvering Autopilot

For the ship motion nonlinear control system model with unknown control gain, constant parameter uncertainty and the exogenous disturbances, a novel robust adaptive control strategy which combines Nussbaum gain with backstepping techniques was proposed, and then ship-course asymptotic tracking control was achieved. The desired performance of the closed-loop system under the derived adaptive robust controller can be satisfied by an appropriate choice of design parameters, and the controller singular problem can be avoided simultaneously. The design procedure and simulation results all demonstrate that the designed adaptive nonlinear tracking controller owns super robustness and adaptability to uncertainty.