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中文摘要：
为确定船速变化对船舶操纵控制的影响,提出线性变参数H∞航向控制算法.通过变量代换,得到显含船速项的Nomoto船舶运动方程,以船速作变参数,转换为连续线性变参数系统方程.将其凸分解为多胞表示,利用线性矩阵不等式方法,对多胞的各顶点分别设计满足H∞性能和动态特性的输出反馈航向控制器,综合顶点控制器得到具有同样多胞结构的全局连续变增益控制器.仿真结果表明,该控制器能有效控制船舶航向.
英文摘要：
A new approach to design robust H∞ controller for ship steering was developed accounting for the effects of ship speed varying on ship steering. On the basis of time-variant properties of ship steering, the Nomoto model equation with ship velocity dependence was acquired through variable-substitution. When the ship velocity was introduced as a schedule parameter, the equation was translated into a linear parameter-varying systems, which were attempted to have the polytopic gain scheduled controller design. Output feedback controllers satisfying H∞ performance at every vertex of convex polyhedron parameter space were designed via linear matrix inequalities approach. Using these designed controllers at every vertex＇ s LPV controller with smaller on-line, calculation capacity was synthesized via convex decomposition techniques. Simulation results show that the ship steering with the LPV controller has good performance for the ship velocity varying.
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