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中文摘要：
为了描述并控制船舶横摇运动中的非线性随机现象，用混沌的Duffing方程刻画船舶横摇运动的非线性现象，符合程度较好，说明船舶在海浪作用下的运动在一定条件下可能产生混沌现象。采用精确反馈线性化和闭环增益成形算法相结合的非线性简捷控制方法控制船舶横摇运动中的混沌，取得了令人满意的控制效果，仿真结果验证了所设计的控制器具有良好的鲁棒性。
英文摘要：
In order to describe and control the nonlinear random phenomena in ship rolling motion, Duffing equation of chaos is used to depict the nonlinearity with satisfactory consistency. The chaos appears under some actions by wave in ship motion. The chaos is eliminated by a kind of simple and direct nonlinear control based on exact feedback linearization and closed-loop gain shaping algorithm. The simulation results show that the control effect is satisfactory with some robustness.
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