Adaptive neuro-wavelet control for the ship trajectory tracking problem

This paper develops an adaptive neuro-wavelet control (ANWC) strategy to resolve the ship trajectory tracking problem. The proposed control system consists of an adaptive neuro-wavelet controller and a robust controller. The adaptive neuro-wavelet controller using a wavelet neural network (WNN) is the principal tracking controller based on sliding mode control method; and the parameters of WNN are on-line tuned by the derived adaptation laws in the Lyapunov stability sense. The robust controller is designed to recover the approximation error, so the robust tracking performance can be guaranteed. The effectiveness of the proposed control system is verified by numerical simulations.