Abstract: A non-minimum phase nonlinear ship model is established, which is based on the sliding mode control method. It is assumed that the magnitude and disturbance of the error of the model are known, and the sliding mode controller is designed to control the stability of the first order wave disturbance. Based on Lyapunov stability theory, the stability of the whole closed-loop system can be proved. The simulation results verify the excellent tracking performance and robustness of the designed controller.

Key words: ship attitude motion system, ruder-roll stability, non-minimum phase system, sliding mode control

摘要： 建立了从舵到横摇角的非最小相位非线性船舶模型，利用滑模控制方法设计同步横摇阻尼和航向保持的稳定控制器。船舶减摇建模时假设模型误差的数量级和扰动已知，且设计的滑模控制器可实现对一阶波浪扰动的稳定调节。基于李亚普诺夫稳定性理论证明了整个闭环系统的稳定性，仿真实验的结果验证了所设计的控制器的优良跟踪性能和鲁棒性。

关键词: 船舶姿态运动系统, 舵减摇, 非最小相位系统, 滑模控制