%0 Journal Article
%T Stable adaptive neural network control of path following for underactuated ships<br>欠驱动船舶路径跟踪的神经网络稳定自适应控制
%A LIU Yang
%A GUO Chen
%A SHEN Zhi-peng
%A LIU yu
%A GUO Di
%A <br>刘杨
%A 郭晨
%A 沈智鹏
%A 刘雨
%A 郭迪
%J 控制理论与应用
%D 2010
%I 
%X We propose a stable adaptive-neural-network control for the path following in a 3 degrees-of-freedom (3DOF) underactuated ship with parameters uncertainties and disturbances. Based on the diffeomorphism transformation and Lyapunov direct method, controllers for the reference yaw angle and the reference speed are designed. Signal errors in the closed-loop path following system are proved to be uniformly ultimately bounded in a small neighborhood of zero. Numerical simulation results are given to illustrate the effectiveness of the stable adaptive-neural-network algorithm.
%K underactuated ships
%K path tracking
%K Lyapunov direct method
%K neural network
%K stable adaptive autopilot<br>欠驱动船舶
%K 路径跟踪
%K Lyapunov直接法
%K 神经网络
%K 稳定自适应自动舵
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=1BD73C7F51B80DBAB9BB61A0FF70A58C&yid=140ECF96957D60B2&vid=DB817633AA4F79B9&iid=0B39A22176CE99FB&sid=954CE65414DD94CA&eid=0584DB487B4581F4&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=7