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In this note, one concerns with the problem of robust adaptive path-following control for uncertain underactuated ships in fields of marine practice: waypoints based navigation. A novel “logical virtual ship (LVS)” based steering law is developed to programme the rational reference route, which is to guidance the underactuated ship in the practical engineering. Furthermore, a practical adaptive neural...
Around the waypoint-based path-following control for marine ships, a novel dynamic virtual ship (DVS) guidance principle is developed to implement the assumption “the reference path is generated using a virtual ship”, which is critical for applying the current theoretical studies in practice. Taking two steerable variables as control inputs, the robust adaptive scheme is proposed by virtue of the...
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