針對帶參數(shù)不確定性，未知有界擾動及未建模動態(tài)的船舶航向跟蹤控制問題，本文介
紹了一種魯棒自適應(yīng)算法。此算法能保證系統(tǒng)的全局穩(wěn)定，使閉環(huán)系統(tǒng)的所有變量一致有界。并通過仿真對兩種算法進(jìn)行比較，可以看出，依照本文算法設(shè)計的控制器具有很好的魯棒性。
關(guān)鍵詞：船舶航向跟蹤控制，自適應(yīng)控制，非線性系統(tǒng)，魯棒性，未建模動態(tài)
Abstract：A robust adaptive control scheme is introduced for ship course-tracking control with parameter uncertainty, unknown bounded disturbance and unmodeled dynamics. The scheme guarantees that system is stable and all the variables of the closed-loop system are bounded. Two control schemes are compared through simulation. The simulation results show that the designed controller by the scheme in this note is applied to the ship course-tracking with good robustness.
Key words: ship course-tracking control, adaptive control, nonlinear systems, robustness,
unmodeled dynamics