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中文摘要：
针对非线性船舶航向运动数学模型存在模型误差的情况,提出一种神经网络控制方法.基于Lyapunov稳定性分析理论,采用动态面（DSC）控制技术,以消除传统Backstepping 方法中存在的“计算爆炸”问题,并采用最少学习参数（MLP）技术,以减少控制器的计算负担,便于工程实现和应用.设计的神经网络控制器可以保证闭环系统中所有信号一致最终有界,使跟踪误差任意小.仿真验证了算法的有效性.
英文摘要：
A neural network （NN） based control method is pro- posed for ship course-keeping control in the presence of modeling errors. The controller is constructed by combining both the dy- namic surface control （DSC） technique and minimum learning parameter（MLP） technique based on Lyapunov stability theory, and the problem of explosion of complexity is avoided, so that the computational burden of the algorithm can be reduced drastically , which is convenient for practice and applications. The proposed NN based controller guarantees that all the close-loop signals are uniform ultimate bounded （UUB） and that the tracking errors converge to a small neighborhood of the desired trajectory. Simu- lations illustrate the effectiveness of the proposed algorithm.
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