An adaptive robust neural network tracking control for underactuated surface ship

Aiming at the tracking control for the underactuated surface ship at open sea, an adaptive robust neural network method was proposed. At present, most researches would consider the underactuated characteristics and parameters uncertainties and environmental disturbance. The controller structure was designed by nonlinear algorithm, thus ensuring the tracking loop system robustness. Proposed adaptive neural network control method, used to estimate the uncertainty in the external environment and model parameters. Based on Lyapunov stability theory, we designed the adaptive law of neural network weights, thus ensuring the tracking error near zero. The stability and the robustness of the closed-loop system are ensured by Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed control method.