An Integrated Scheme for Designing Ship Straight Track Controller Based on Sliding Mode and Neural Network

摘要

An integrated scheme for designing straight track control system of under actuated ship based on sliding mode and neural network was proposed in this paper. Two different sliding modes are designed both in course closed loop and straight track closed loop. The MLP technique was introduced to reduce the computation burden of neural network which was used for the uncertainties of course system, while the ocean current can be eliminated by integrating the designed sliding mode surface. The hyper parameter of the algorithm can be selected according to the practical experience of seafarers, which has the advantage of semantic interpretability and is convenient to adjust. The stability of the proposed algorithm was guaranteed via the Lyapunov analysis. Training vessel "Yu Long" was adopted for verification simulation and the results show the effectiveness of the proposed algorithm.