船舶航迹控制的鲁棒自适应模糊设计

本文研究船舶航迹的鲁棒自适应模糊控制，考虑环境干扰影响设计控制器，达到了更好的控制效果，较现有的方法有所改进。 修改建议：英文摘要改为： Abstract：For the model of ship linear path-keeping motion, Input-to-State Stability theory was used to verify that the interested system is ISS. A novel algorithm combined Nussbaum gain with the backstepping techniques was proposed by employing fuzzy systems as approximator of those unknown nonlinearities in the system. It proved that the proposed algorithm could guarantee the closed-loop system uniformly ultimate bound, the output converging to a small neighborhood of zero, so that ship linear path-keeping control can be implemented. Simulation results are presented to validate the effectiveness.P.2上式（4）中的∆2应予以解释；P.3上第2节倒数第3行中的“解藕”应为“解耦”；P.6上第3节倒数第2段中对图1的说明中的“文献[?]”应给出文献号。