RBF neural network based adaptive nonlinear control for ship course keeping

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Journal of Dalian Maritime University ›› 2013, Vol. 39 ›› Issue (4) : 1-4.

Original Paper

RBF neural network based adaptive nonlinear control for ship course keeping

LIU Yang^a, GUO Chen^b

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Abstract

For ship model uncertainty and the unknown control gain nonlinear ship course control problem, this paper proposes a new nonlinear course keeping controller based on RBF neural network adaptive control. The paper proves theoretically the existence of a continuous control law, then approximate it by using RBF neural network. Finally the paper analyzes and illustrates that the consistency of all error signals of the closedloop system for ship course keeping is ultimately bounded via Lyapunov stability theory. Simulations verify the effectiveness of the controller.

Key words

ship / course keeping / RBF neural network / Lyapunov stability theory / adaptive control

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LIU Yang，GUO Chen. RBF neural network based adaptive nonlinear control for ship course keeping[J]. Journal of Dalian Maritime University. 2013, 39(4): 1-4

References

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