中文摘要：

为研究船舶航向非线性系统自适应自动舵跟踪控制问题,采用模糊系统逼近模型不确定性,将动态面控制与最少学习参数算法结合,提出一种自适应模糊跟踪控制算法.该算法只有1个学习参数,计算量小,易于工程实现,可避免可能存在的控制器奇异值问题.同时,该算法可保证闭环系统的稳定性,使航向跟踪误差任意小.仿真结果验证了控制器的有效性.

英文摘要：

To study the problem of adaptive control design of ship autopilot with rudder dynamics,T-S fuzzy system was used to approximate uncertain functions, and an adaptive fuzzy control algorithm was developed based on dynamic surface control（DSC） and minimal-learning-parameter（MLP） algorithm.With only one learning parameter and reduced computation load,the proposed algorithm is convenient to be implemented in applications,and can avoid the possible controller singularity problem.In addition,the boundedness stability of the closed-loop system is guaranteed and the tracking error can be made arbitrarily small.Simulation results validate the effectiveness and the performance of the proposed scheme.