Compound controller based on FC-LSSVM for ship course-keeping

A compound control strategy based on least squares support vector machine inverse control and fuzzy control was proposed with a nonlinear and high order time-varying process of ship motion that it was subjected to kinds of random disturbance. This method not only utilized the merits of support vector machine inverse dynamic model that had good generalization and produced feed forward signal of rudder angle, but also combined the advantages of fuzzy control that formed closed-loop control and guaranteed the controller convergence of starting process by coordination factor. The simulation results showed that the compound control algorithm had a high performance in control quality of ship course-keeping and good adaptive ability for the variety of ocean condition.