﻿ 具有输入饱和的航向离散非线性系统鲁棒后推设计

# 具有输入饱和的航向离散非线性系统鲁棒后推设计Robust Backstepping Design for the Ship Course Discrete-Time Nonlinear System with Input Saturation

Abstract:
In this paper, a robust NN control scheme based on backstepping technique is proposed for the ship course discrete-time nonlinear systems with input saturation. Firstly, the original system is transformed into a novel ship course discrete-time nonlinear system which the state variable could be predicted. Then an adaptive NN controller design of the discrete-time nonlinear system is presented via backstepping. The HONNs are employed to approximate the unknown functions in the control design process. At the same time, an input saturation aided design system is introduced in the ship course controller in presence of input saturation constraint. Compared with previous research for discrete-time systems, the proposed algorithem improves the robustness of the systems. Based on Lyapunov Theory, the closed-loop systems are proven to be semi-globally uniformly ultimately bounded, and the tracking error converges to a small neighborhood of the origin. Finally, a simulation of vessel “yukun” is employed to illustrate the effectiveness of the proposed algorithem.

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