| 引用本文: | 潘永平,黄道平,孙宗海.欠驱动船舶航迹Backstepping自适应模糊控制[J].控制理论与应用,2011,28(7):907~914.[点击复制] |
| PAN Yong-ping,HUANG Dao-ping,SUN Zong-hai.Backstepping adaptive fuzzy control for track-keeping of underactuated surface vessels[J].Control Theory and Technology,2011,28(7):907~914.[点击复制] |
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| 欠驱动船舶航迹Backstepping自适应模糊控制 |
| Backstepping adaptive fuzzy control for track-keeping of underactuated surface vessels |
| 摘要点击 1858 全文点击 1871 投稿时间：2010-03-06 修订日期：2010-09-04 |
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| DOI编号 10.7641/j.issn.1000-8152.2011.7.CCTA100212 |
| 2011,28(7):907-914 |
| 中文关键词 直线航迹跟踪 严格反馈非线性系统 Backstepping方法 自适应模糊控制 均方意义稳定性 |
| 英文关键词 linear track-keeping strict-feedback nonlinear systems Backstepping technique adaptive fuzzy control mean-square stability |
| 基金项目 国家自然科学基金资助项目(60704012). |
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| 中文摘要 |
| 针对欠驱动船舶直线航迹跟踪问题, 提出一种Backstepping自适应模糊控制方法. 在模糊逼近误差存在未知上确界的假设条件下, 基于Lyapunov理论证明了闭环系统在所有信号一致最终有界意义下具有均方意义稳定性. 本文提出的控制器具有设计直观和结构简洁的特点, 并且对参数摄动和外界干扰都具有良好的鲁棒性. 在状态变量和控制输入共同约束下的仿真实验验证了该方法的有效性. |
| 英文摘要 |
| A backstepping adaptive fuzzy controller is proposed for the linear track-keeping problem of underactuated surface vessels. Under the assumption that the fuzzy approximation error is unknown but bounded, it is proved that the closed-loop system is mean-square stable in the sense that all variables are uniformly ultimately bounded by the Lyapunov theorem. The proposed controller has the characteristics of intuitive design and simple structure with strong robustness under the parameter perturbation and external disturbance. Simulation experiments are carried out under the constraint conditions of the state variable and control input. The results demonstrate the effectiveness of the proposed approach. |