A Novel Method of Ship Course Control Based on Slide Mode Using Adaptive Approximate Dynamic Programming Compensation

摘要

Since the development of intelligent control, a growing interest has been raised in the field of ship course tracking control design. Owing to its uncertain parameters, high nonlinearity and unknown wave disturbance, it poses a great challenge to the design of controller. In this paper, a time-varying threshold prescribed convergence law sliding mode control (PCLSMC) using nonlinear disturbance observer is proposed for ship course control and it is used as a major control input to strengthen robustness and track the desired heading angle. To improve the control performance, a novel design of action-dependent heuristic dynamic programming (ADHDP) based control method is proposed as a supplement control. The adaptive control gain based on the performance index is introduced to modify the output of action network according to the state error. The simulation results prove the effectiveness and high accuracy of our proposed control scheme.