船舶航向非线性系统自适应模糊补偿控制

摘要： 研究了船舶直航和谐波航向控制问题.基于Lyapunov稳定性理论，将自适应模糊补偿技术应用到船舶航向非线性响应模型中，利用万能逼近定理构造模糊系统逼近系统中的未知非线性，提出了一种基于自适应模糊补偿且带有物理约束二阶滤波器的鲁棒跟踪控制器.运动响应模型考虑了建模误差和外界干扰，模糊系统能有效地逼近非线性系统，控制器能够准确地跟踪预设航向和转首角速度.舵角控制结合舵机伺服系统模型，操舵情况符合物理现实. 数值仿真在相同控制参数下与传统比例 微分(PD)控制作比较，结果验证了自适应模糊控制器的有效性和优越性.

Adaptive Fuzzy Compensation Control for Nonlinear Ship Course-Keeping

Abstract： The problem of ship linear and harmonic course-keeping control was discussed. Based on Lyapunov stability theory, the adaptive fuzzy compensation technology was applied to the nonlinear ship response model. A robust adaptive fuzzy compensation based tracking controller including a second-order filter with physical constraints was proposed with the help of the universal approximation theory creating fuzzy systems as approximator of unknown nonlinearities in the system. The response model takes account of the modeling errors and external disturbances. The fuzzy systems can approach the nonlinear system effectively. The controller can track the designed heading angle and turning rate accurately. The rudder control was connected with the rudder servo system, making the steering in keeping with physical reality. Simulation results demonstrate the effectiveness and superiority of the adaptive fuzzy controller compared with the traditional PD control under the same control parameters.
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