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中文摘要：
为了更方便地使用航海模拟器进行培训,减少大船、小船自动操纵中的算法切换或参数调整。采用将船舶操纵性指数计算代入控制器设计中的方法,基于闭环增益成形算法,给出一种通用的适应式鲁棒航迹保持算法。通过对11条船的测试,控制效果令人满意。该算法实施过程简单、物理意义明显且具有一定的鲁棒性。
英文摘要：
For conveniently carrying out training using marine simulator without frequently changing algorithms and parameters to fit ships of particular size,a method,which calculates the maneuverability indices and incorporate the results into controller design,is adopted.Based on closed-loop gain shaping algorithm,a general adaptive robust track-keeping algorithm is given.The control effectiveness is verified by tests of 11 ships.The algorithm has obvious physical meaning and is simple in implementation with certain robustness.
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