本文对应用一种非线性PID控制器的船舶航向控制方法进行了研究。
This paper studies a ship heading control method based on nonlinear PID control unit.
形象地表现线性小扰动运动方程的纵向和横航向典型运动模态，一直缺乏一种理想的方式。
There is no ideal way so far to represent the longitudinal and lateral motion mode of the small linear disturbance motion equation.
针对非线性船舶航向保持系统，给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒pid控制器，该非线性PID控制器由非线性函数项和鲁棒pid控制器组成。
For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm.
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