关键词: 船舶工程, 航向控制, 参数自适应, 分段式双幂次趋近律, 收敛速度

Abstract: A simple and efficient ship heading controller was designed by using the sliding mode variable structure control method. In order to solve the problem of slow convergence rate and strong chattering in the sliding mode variable structure controller method, a segmented double-power approach law was proposed. The mathematical verification shows that the convergence rate of the proposed reaching law is faster. At the same time,in order to keep the controller in the optimal state under the disturbance of unknown sea conditions,the RBF neural network was introduced to implement online estimation of the controller parameters to enhance the adaptability.The simulation results show that the segmented double-power approach law has obvious effect on reducing chattering and almost no chattering;the controller designed by the proposed method has stronger robustness to external wind and wave disturbance.

Key words: ship engineering, ship course control, parameter adaptation, segmented double-power approach law, rate of convergence