Ship Steering Adaptive Robust Control Based on Kalman Filtering

Based on Nomoto´s equation for ship steering system, a state equation of the system was constructed, in which uncertainties were concerned. For the system, a robust control algorithm was proposed according to the upper bounds of the uncertainties. Applying Lyapunov stability theory and linear matrix inequality method, we proved that the proposed approach can guarantee the global stability of the closed loop system and lead the tracking error to a small bounded neighborhood of zero. Furthermore, an adaptive robust control algorithm was put forward with biological immune system to improve the adaptability of the system. To reduce the system disturbances, Kalman filtering was adopted in the system. Simulation results demonstrate the validity of the algorithm