中文摘要：

针对船舶航向控制系统中固有的非线性和模型不确定性,提出一种基于变伸缩因子的模糊自适应控制方法.该控制方法基于Norbbin非线性船舶运动模型,采用Lyapunov稳定性理论确保闭环系统的稳定性,结合投影算法设计参数自适应律,能够以精简的模糊规则实现较高的控制性能.仿真结果验证了该控制方法的有效性和优越性.

英文摘要：

A fuzzy adaptive control method was proposed based on variable contraction-expansion factors for the inherent nonlinearity and uncertainties problems of ship steering control system. The proposed scheme was based on Norbbin nonlinear ship motion model,and Lyapunov stability theorem was adopted to guarantee the stability of the closed-loop control system.Moreover,the parameters of fuzzy logic system were derived by using projection algorithm,so that a favorable control performance could be achieved with simple fuzzy rules. Simulation results verify the effectiveness and superiority of the proposed scheme.