Network-Based Neural Adaptive Sliding Mode Controller for the Ship Steering Problem

摘要：

　　In this paper, the concept of networked control system (NCS) is introduced into the course autopilot of the ship.A network-based neural adaptive sliding mode controller is designed for the ship steering in waves.The unknown term, including the wave disturbances and the unmodeled dynamics, is approximated by the RBF neural network.The sliding mode controller is designed to compensate the neural network approximation error besides of the network-induced delay.The stability of the closed-loop system is proven and the neural network weight is updated using the Lyapunov theory.It indicates that the designed controller can guarantee the system state tracks the desired state asymptotically.Finally, a simulation on a Mariner class vessel in waves is carried out to demonstrate the effectiveness of the proposed control scheme.

关键词： Networked Control System (NCS) Autopilot RBF Neural Network Sliding Mode Controller

作者: Guoqing Xia Huiyong Wu

作者单位: College of Automation, Harbin Engineering University,Harbin, China 150001

会议类型: 国际会议

会议名称: 4th international Conference,ICSI2013(第4届群体智能国际会议)

会议地点: 哈尔滨

会议语种:英文

页码: 497-505

在线出版日期: 2013-06-12（万方平台首次上网日期，不代表论文的发表时间）