For the problem of the ship course keeping with uncertain model dynamic and unknown external disturbance,a scheme of PI control for ship course keeping with predefined performance based on the adaptive neural network is proposed.Under the design framework of PID control,introducing the techniques of the adaptive neural network and the predefined performance control,the ship course keeping accuracy and control performances are guaranteed from the perspective of the uncertain compensation and design.In the control design,combining with the adaptive neural network and single-parameter learning techniques,it is achieved that the closed-loop control system for ship course keeping only needs to update one unknown parameter,the complexity of the system is decreased,and the function of determining ship course errors offline can be realized.The analysis is conducted by the Lyapunov stability theory,and the results show that the proposed control scheme can guarantee the boundedness of all signals of the closed-loop control system.The effectiveness and superiority of the proposed scheme are verified by the numercial simulation.
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维普
