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中文摘要：
针对欠驱动船舶直线路径跟踪控制系统中存在的外界干扰影响，提出一种鲁棒跟踪控制算法。该控制算法基于重定义输出、解析模型预测控制、高增益观测器等技术，使得欠驱动船舶能够渐近镇定于给定的直线参考路径。计算机仿真实验验证了算法的有效性。所提出的控制器具有良好的控制效果以及对外界干桃的鲁棒件．
英文摘要：
A robust straight-line path following controi algorithm for under-actuated ships was proposed with respect to the disturbances of control systerrL The control algorithm was based on output-redefinition, analytic model predictive control and high gain observer techniques. It can asymptotically stabilize the under-actuated ships onto the desired straight-line reference path. Numerical simulation results were provided to validate the proposed controller. It showed that the proposed controller exhibits high effectiveness and good robustness to disturbances.
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