CAJ | 학술논문

船舶在海上航行时，不可避免会受到海风、海浪、海流的环境干扰，会产生艏摇、横摇等现象，影响船舶的适应性，产生诸多不利影响。针对船舶的横摇减摇控制系统的数学模型，在考虑系统的非线性和参数不确定性的情况下，利用李雅普诺夫稳定性理论推导使系统渐近稳定的充分条件，设计鲁棒控制器，用MATLAB软件进行求解和仿真，验证方法的可行性。
선박재해상항행시，불가피면회수도해풍、해랑、해류적배경간우，회산생수요、횡요등현상，영향선박적괄응성，산생제다불리영향。침대선박적횡요감요공제계통적수학모형，재고필계통적비선성화삼수불학정성적정황하，이용리아보낙부은정성이론추도사계통점근은정적충분조건，설계로봉공제기，용MATLAB연건진행구해화방진，험증방법적가행성。
As a ship is sailing in sea, its adaptability will be affected by yawing and rolling as well as other inevitably influ-ence caused by wind, waves and ocean current. To design robust controller in accordance with the model of ship roll and anti-roll-ing systems, this paper takes nonlinearity and parameter uncertainty into consideration, deduces the conditions for systems stabili-ty with Liapunov’s Stability Theory and tests its feasibility through solution and stimulation with the help of MATLAB ( Matrix La-boratory) .