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借助Lyapunov方法引入了参数的自适应律,并证明了该控制策略使得船舶运动非线性系统中所有信号有界,选取恰当的设计参数可以保证跟踪误差收敛到零。以某运煤船为例,在Simulink环境下进行仿真研究,仿真结果表明:所设计的控制器无论在标称参数下还是在参数摄动及存在外界扰动的情况下,都显示出较好的控制性能和较好的鲁棒性。
The adaptive law of parameters is introduced by means of Lyapunov method. It is proved that the control strategy makes all the signals in the nonlinear system of ship motion bounded and the proper design parameters can ensure the tracking error to converge to zero. Taking a coal shipping ship as an example, the simulation is carried out under the environment of Simulink. The simulation results show that the designed controller shows good performance both in the nominal parameters and in the parameter perturbation and the external disturbances Control performance and better robustness.