Title :
MRAC design of ship´s course controller based on RBFNN
Author :
Gao, Xiaori ; Hong, Biguang ; Li, Tieshan
Author_Institution :
Navig. Coll., Dalian Maritime Univ., Dalian, China
Abstract :
In order to study ship´s course control system, this paper adopts a model reference adaptive control scheme. In the design procedure, a RBFNN (RBF neural networks) is used to approximate the unknown nonlinear system when the MMG ship mathematical model is considered. The approximation error and external disturbance are counteracted by a robust adaptive compensation algorithm. The approximation weight are obtained by Lyapunov direct method, meanwhile, the stability of closed loop system is proved by this method. Finally, the presented scheme is verified through simulation.
Keywords :
Lyapunov methods; closed loop systems; control system synthesis; marine control; model reference adaptive control systems; nonlinear control systems; radial basis function networks; robust control; ships; Lyapunov direct method; MMG ship mathematical model; MRAC design; RBF neural networks; RBFNN; approximation error; closed loop system stability; design procedure; external disturbance; model reference adaptive control scheme; nonlinear system; robust adaptive compensation algorithm; ship course control system; ship course controller; Control systems; Marine vehicles; Mathematical model; Neural networks; Nonlinear systems; Robustness; Simulation;
Conference_Titel :
Intelligent Control and Information Processing (ICICIP), 2012 Third International Conference on
Conference_Location :
Dalian
Print_ISBN :
978-1-4577-2144-1
DOI :
10.1109/ICICIP.2012.6391506
