A PID Controller based on Wavelet Network and its Application in Ship Course Control

摘要

To identify the dynamic of ship's motion at sea quickly with high accuracy,a wavelet network is proposed for ship motion identification.The wavelet network is implemented as the on-line system identifier,whose parameters are tuned at each step.By combing the advantages of the fast learning speed of wavelet network and the robustness of custom PID control,a wavelet-network-based PID controller is proposed for control applications.The simulation results of ship course control demonstrate that the proposed controller can track the setting course accurately with fast computational speed.