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中文摘要：
为克服船舶航向保持控制系统中传统Backstepping设计方法易产生静差及设计过程过于复杂等不足，提出一种把带积分项的Backstepping方法与闭环增益成形算法相结合的简捷非线性鲁棒控制器设计方案．理论分析和系统仿真结果均表明，通过该方案设计出的控制器可使船舶航向零误差渐近稳定，同时设计过程简捷，控制器结构简单且具有较强的鲁棒性．
英文摘要：
To overcome the disadvantages of the static error caused by the constant disturbance and the complexity of the controller design process with the traditional Backstepping method in the ship course-keeping systems, a simple and direct nonlinear robust control design scheme combining integral Backstepping with closed-loop gain shaping algorithm was developed. Theoretical analysis and simulations show that the proposed scheme can make systems asymptotically stable, which has a direct process, simple structure and strong robustness.
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