Robust sliding mode control of ship based on neural network under uncertain conditions

Abstract

A robust sliding mode control algorithm of ship based on neural network under uncertain conditions was designed. The algorithm could effectively solve the problem of ship motion control under model uncertainty and external disturbance. Based on the nonlinear response motion mathematical model of the ship, the RBF neural network was used to effectively approximate the ship system function and external disturbance. Then, Lyapunov stability theory and backstepping method were used to design the controller of ship motion. The simulation results verified that the control algorithm tracked the set signal well and the controller had good robustness.