Hybrid Control of Inverse Model Wavelet Neural Network and PID and Its Application to Fin Stabilizer

A hybrid control combining inverse model wavelet neural network (IMWNN) and conventional PID controller for ship fin stabilizer system is presented in the paper. The IMWNN is employed to implement the feed-forward control, and obtain the inverse dynamics model of the process. The conventional PID controller is adopted to carry out feedback control, and assure the stability of closed loop system and restrain the disturbances. The simulation results illustrate the efficiency of the proposed method, and prove that the hybrid model can make sure the stability and robustness of control system and effectively improve the system adaptive ability. This method not only can be applied to ship roll-reducing control, but also can be used in other complexity, non-linearity system control.