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中文摘要：
设计一个N5-5-5-5-5-5-1前向神经网络，经训练得到一个开环的船舶航向保持控制器，使其能够较好地保持典型输入信号作用下的船舶航向；然后应用闭环增益成形算法，形成闭环控制系统。这种基于神经网络的航向保持方案，将神经网络的适应能力、非线性函数映射能力和闭环增益成形算法的鲁棒性结合起来，改善了系统的鲁棒性能。这种方法设计过程简单，物理意义明显。
英文摘要：
A N5-5-5-5-5-5-1 feed-forward network is designed and trained to acquire an open loop controller of course-keeping for ships： The NNC controller can follow the tacks of typical course curve with good precision,then a closed loop control system is constructed using closed loop gain shaping algorithm. The robustness of the system is improved because the control strategy connects the adaptability and nonlinear mapping of neural network with robustness of closed loop gain shaping algorithm.This method has the advantages of simple design procedure and obvious physical sense.
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