中文摘要：

为了解决船舶转向控制中存在的实际问题—舵机幅度与速率饱和、模型不确定性、流体动力非线性,提出了转向抗饱和控制算法。在模型有效性的前提下,化不确定非线性船舶动力学模型为线性微分包含模型,应用线性系统理论求出静态无约束控制规律;在控制器中加入幅度与速率饱和模型,以最小化扰动到被调输出的非线性L2增益为目标,控制问题转化为具有线性矩阵不等式约束的凸优化问题,进而求出静态抗饱和补偿增益。仿真结果满足实际转向控制要求。

英文摘要：

In order to solve practical problems in ship course-changing control,such as,rudder amplitude and slew rate saturation,model uncertainty and nonlinear hydrokinetics,the anti-windup control algorithms of ship course-changing are proposed.Model validity ensured,the uncertain nonlinear ship dynamics model is included by a linear differential inclusion.The static unconstrained control law is designed using linear system theory.After the amplitude and rate saturation model is absorbed into the controller,by minimizing the nonlinear L2 gain from disturbance to the manipulated output,the control problem is expressed as a convex optimization routine subject to linear matrix inequality constraints.Thus the anti-windup compensator gain is obtained.Simulation results satisfy practical course-changing requirements.