中文摘要：

针对风帆助航船舶运动模型的不确定性和高度非线性特点,设计了一种自适应非线性滑模控制器。该控制器利用非线性双曲正切函数对系统输出进行迭代滑动模态设计,应用滑模面反馈控制方法,无需对系统的不确定项和外界干扰进行估计,根据双曲正切函数的严格有界性和控制输入约束条件证明了控制器稳定性,同时引入模糊系统对迭代滑模参数进行优化,增强控制器的自适应性。以＂文竹海＂号76000DWT散货船为目标进行控制仿真,结果表明,所设计控制器对系统模型不确定参数摄动及风浪作用不敏感,具有强鲁棒性,且与迭代滑模控制器相比所得控制量输出更加合理有效。

英文摘要：

A kind of fuzzy-adaptive nonlinear sliding-mode controller is presented for a sail-assisted ship motion mod- el, which has the characteristics of high nonlinearity and uncertainty. The iterative sliding-mode controller （ISMC） , which uses a nonlinear hyperbolic tangent function, is designed for the system output. The sliding-surface feedback control method is combined with the ISMC without needing to estimate the uncertain parameters and disturbances. The stability of the proposed controller can be proved by the strict boundedness of the hyperbolic tangent function and the constraint of the system input. To enhance the adaptability of the controller, a fuzzy system is introduced to optimize the parameters of the ISMC. Finally, numerical simulations were carried out of the 76000 DWT large ocean-going bulk carrier ＇ Wen Zhuhai＇. The results of the simulations indicate that the proposed fuzzy nonlinear iterative sliding-mode controller （FAISMC） is robust against perturbations from the uncertain parameters and wave disturbances, and its control output is more appropriate than that from the ISMC.