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This paper addresses the berthing control problem for an underactuated surface ships steering in restricted waters using nonlinear adaptive control method. For the berthing path along the given restricted waters, therefore, the following control law, which steers the ships along the path, and convergence, control law, which moors the ships to in its allotted place, are designed separately. Firstly,...
A global sliding mode control scheme is proposed to force an underactuated surface vessel to track a desired trajectory, in spite of the presence of uncertain parameters and unmodelled uncertainties including external disturbances and measurement noise, etc. The effect that the rudder generates a lateral acceleration on the sway direction is considered. In this case, the system is nonminimum phase...
Aiming at modeling and controlling a kind of nonlinear dynamic systems and dealing with the uncertainties coursing by the changing of modeling parameters, a Dynamic Fuzzy Neural Intelligent Controller (DFNIC) is presented in this paper. A dynamic fuzzy neural networks (DFNN) with a PID controller are integrated in DFNIC, in which the structure and parameters are adjusted online, and the fuzzy rules...
The uncertainties coursing by the changing of modeling parameters should be considered when modeling and controlling a kind of nonlinear dynamic systems. A Dynamic Fuzzy Neural Adaptive Control (DFNAC) algorithm is presented in the paper. The DFNAC combines a Dynamic Fuzzy Neural Networks (DFNN) with a PID controller. DFNN adjusts its structure and parameters online, and generates the fuzzy rules...
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