%0 Journal Article
%T Ship motion predictive PID control based on variable structure radial basis function network<br>基于变结构径向基函数网络的船舶运动预测PID控制
%A YIN Jian-chuan
%A DONG Fang
%A LI Tie-shan
%A HU Jiang-qiang
%A <br>尹建川
%A 东昉
%A 李铁山
%A 胡江强
%J 控制理论与应用
%D 2010
%I 
%X To deal with the long time-delay and time-varying dynamics of the ship motion in sea, we present a predictive PID controller based on variable structure radial basis function (RBF) network. This network performs sequential learning through a sliding data window reflecting system dynamic changes, and adjusts online the hidden layer nodes and their weighting values in the connection to output layers. We thus obtain an adaptive variable structure RBF network. This variable structure RBF network is employed as a multi-step online predictor for a predictive PID controller. Parameters of the controller are online tuned based on the sensitivity information obtained from the variable RBF network predictor. The proposed predictive PID controller is applied to ship course tracking control. Simulation results demonstrate satisfactory adaptation and robustness of the controllers.
%K radial basis function neural networks
%K variable structure neural network
%K predictive control
%K sequential learning<br>径向基函数神经网络
%K 变结构神经网络
%K 预测控制
%K 序贯学习
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=52CA11637A8B1E7CA315688A6EB713F9&yid=140ECF96957D60B2&vid=DB817633AA4F79B9&iid=708DD6B15D2464E8&sid=FDE90279419513E0&eid=E826542BD0A89666&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0