DSCMLP based design for ship coursekeeping control

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Journal of Dalian Maritime University ›› 2013, Vol. 39 ›› Issue (4) : 5-8.

Original Paper

DSCMLP based design for ship coursekeeping control

MIAO Baobin¹，LI Tieshan¹，LUO Weilin²

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Abstract

A neural network （NN） based control method is proposed for ship coursekeeping control in the presence of modeling errors. The controller is constructed by combining both the dynamic surface control(DSC) technique and minimum learning parameter(MLP) technique based on Lyapunov stability theory, and the problem of explosion of complexity is avoided, so that the computational burden of the algorithm can be reduced drastically ,which is convenient for practice and applications. The proposed NN based controller guarantees that all the closeloop signals are uniform ultimate bounded (UUB) and that the tracking errors converge to a small neighborhood of the desired trajectory. Simulations illustrate the effectiveness of the proposed algorithm.

Key words

ship / course control / dynamic surface control(DSC) / neural network(NN) / minimum learning parameter(MLP)

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MIAO Baobin，LI Tie-shan，LUO Wei-lin. DSCMLP based design for ship coursekeeping control[J]. Journal of Dalian Maritime University. 2013, 39(4): 5-8

References

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