For course control of ships with unknown control coefficient and model parameters, an indirect adaptive robust controller, in which the parameter estimation law and the control law are designed separately, is proposed. This design method can achieve not only excellent course control performance but also accurate parameter estimates for secondary purposes such as assisting in ship maneuvering decision. Firstly, a Nussbaum function is combined with the adaptive dynamic surface control method to design a strong robust controller which can ensure the stability of the closed-loop ship course control system in spite of parameter uncertainties, unknown control coefficient and disturbances. Secondly, the nonlinear model for ship steering is converted into linear form by using the X-swapping technique. And a modified least-squares identification algorithm is then proposed to estimate the unknown model parameters. The global uniform ultimate boundedness of all signals of the resulting closed-loop system is guaranteed via Lyapunov stability theory. Lastly, simulation results are executed to demonstrate the effectiveness of the proposed design method.

针对控制系数和模型参数未知的船舶航向控制，提出了一种分别设计参数估计律和控制律的间接自适应鲁棒控制器。这种设计方法不仅可以实现出色的航向控制性能，而且还可以实现用于辅助目的（例如协助船舶操纵决策）的准确参数估计。首先，将Nussbaum函数与自适应动态表面控制方法相结合，以设计出一种强大的鲁棒控制器，该控制器尽管存在参数不确定性，未知控制系数和干扰因素，但仍可确保闭环船舶航向控制系统的稳定性。其次，利用X交换技术将船舶操纵的非线性模型转换为线性形式。然后提出了一种改进的最小二乘辨识算法来估计未知模型参数。通过Lyapunov稳定性理论，可以保证所产生的闭环系统的所有信号的全局统一最终有界性。最后，通过仿真结果证明了所提设计方法的有效性。