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中文摘要：
为了改善模型中控制方向未知和受外界环境干扰的船舶航向保持控制问题,将Nussbaum增益技术引入到Backstepping方法中,得到一种可人为指定稳态控制的新型鲁棒λ调节控制方法.考虑到一般系统中Nussbaum积分乘性函数为时变函数,通过利用Nussbaum函数不变性构建新的积分形式,充分利用船舶模型内部结构特征,提高该算法理论证明的严谨性.所提出的算法能够解决船舶航向保持控制中控制方向未知条件下指定稳态性能控制问题.最后,通过仿真实验验证了所得出的上述控制方法的可行性.
英文摘要：
In order to supplement the control design for the ship course keeping system with the unknown control direction and external nonzero time-varying disturbances, a robust λ adaptive control scheme is developed by introducing the Nussbaum technique into the popular Backstepping method. By employing the internal structural characters of marine ships,the novel integral form is derived by employing the invariance property of the Nussbaum function, which is to attenuate the defect of the time-varying multiplicative function. The proposed method can solve the steady-state performance control problem for the ship course keeping system with the unknown control direction. Numerical simulation results show the effectiveness of the proposed scheme.
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