Design of Adaptive Control Law for Ship Second-Order Nonlinear Systems Based on Backstepping Method

For nonlinear systems, backstepping control algorithm is a widely used control algorithm whose basic principle achieves control by recursion. By dividing the complex system into several independent sub-systems, controlling the sub-systems individually and using the Lyapunov function to judge the stability of the system, the control of the whole nonlinear system is achieved. In this paper, the second-order nonlinear system of ship heading is studied. Combining backstepping with adaptive thought while considering system interference items. The unknown parameters of the system are traced and estimated, and the designed controller is simulated by Simulink. The simulation results validate that the designed controller has better stability and control performance, while reducing the impact of system disturbance.