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Considering slowly varying environmental external disturbances and their uncertainties, an adaptive nonlinear PID controller for the dynamic positioning system of ships is designed based on vectorial backstepping with integrator under unknown constant environmental disturbances. Using Lyapunov stability theory, it is proved that the resulting dynamic positioning control system of ships is uniformly...
A feed-forward network with seven layers was designed and trained to acquire an open loop controller of course-keeping for ships. The NNC controller with five inputs and one output could follow the tacks of typical course curve with good precision, then a closed loop control system was constructed using closed loop gain shaping algorithm. The robustness of the system is improved because the control...
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