文章基本信息

标题：On the ship course-keeping control system design by using robust feedback linearization
本地全文：下载
作者：Zenon Zwierzewicz
期刊名称：Polish Maritime Research
电子版ISSN：2083-7429
出版年度：2013
卷号：20
期号：1
页码：70-76
DOI：10.2478/pomr-2013-0008
语种：English
出版社：Sciendo
摘要：In the paper the problem of ship autopilot design based on feedback linearization method combined with the robust control approach,is considered.At first the nonlinear ship model (of Norrbin type) is linearized with the use of the simple system nonlinearity cancellation.Next,bearing in mind that exact values of the model parameters are not known,the ensuing inaccuracies are taken as disturbances acting on the system.Thereby is obtained a linear system with an extra term representing the uncertainty which can be treated by using robust,H∞ optimal control techniques.The performed simulations of ship course-changing process confirmed a high performance of the proposed controller despite the assumed significant errors of its parameters.
关键词：feedback linearization;robust control;differential games;ship autopilot design