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中文摘要：
本文针对船舶航向的跟踪控制,提出了一种新颖的二阶滑模控制算法,在提高系统鲁棒性和控制精度的同时,有效抑制了传统滑模控制中固有的抖振效应。同时,设计出一种新型的神经网络补偿器用来消除系统的建模误差,通过将神经网络中的理想权值作为估计参数,使系统中只有一个调节参数,降低了系统的计算负担。为解决环境干扰所产生的影响,利用双曲正切函数处理并仿真,结果表明根据该算法所设计的控制器可以保证闭环系统中所有信号一致最终有界,且使的跟踪误差任意小。
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