中文摘要：

针对给定的线性舵鳍联合系统,考虑船舶航向保持的非线性,建立了一个舵鳍联合系统的非线性数学模型,然后采用精确反馈线性化对该非线性模型进行线性化,最后基于闭环增益成形算法设计出非线性鲁棒控制器。通过Matlab的Simulink工具箱分别对6级风浪和8级风浪作用下考虑舵机、鳍机特性的非线性舵鳍联合控制系统进行仿真,仿真结果表明所设计的控制器在保持航向控制的同时,能达到较好的减摇效果,并且该控制器具有较强的鲁棒性。本研究具有设计简单、物理意义明显的优点。

英文摘要：

Considering the nonlinear characteristics of course-keeping for a given linear rudder/fin joint sys- tem, the nonlinear mathematical model of the rudder/fin joint control system is established and linearized through exact feedback linearization, then a nonlinear robust controller is designed based on the closed-loop gain shaping algorithm. Under Beaufort No. 6 and 8 sea states, the nonlinear rudder/fin joint control system with rudder/fin servo systems is simulated using Simulink. Simulation results show that this control strategy has nice robust performance on course-keeping and roll stabilization. The research has the advantages of simple design procedure and obvious physical sense.