Neural network model reference adaptive control of a surface vessel

A neural network model reference adaptive the desired trajectory for dynamics of a particular, known controller for trajectory tracking of nonlinear systems is structure. The results were verified through simulation using developed. The proposed control algorithm uses a single layer neural network that bypasses the need for information about the system´s dynamic structure and provides portability. Numerical simulations are performed using a three-degree of freedom nonlinear dynamic model of a surface vessel. The results demonstrate the controller performance in terms of tuning, robustness and tracking.