For path flowing control problem of three degrees of freedom underactuated surface vessel model with unknown parameters and external disturbances, a RBF adaptive neural network controller is proposed. The controller was designed by using neural network function approximation properties combining with backstepping method to approach the unknown nonlinear part of the ship model online, and realized the forward speed adjustable. Based on Lyapunov stability analysis it is proved that the final closedloop system is stable. Simulation results show the effectiveness of the adaptive control strategy used.
WANF Yao-lu
,
GUO Chen*
. Path flowing adaptive control for underactuated surface vessels based on RBF neural network[J]. Journal of Dalian Maritime University, 2015
, 41(1)
: 1
-5
.
DOI: 10.16411/j.cnki.issn1006-7736.2015.01.001
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