Adaptive neural network control of zero speed ship rolling motion based on state observer

Abstract

In this paper, an adaptive neural network control method based on state observers is proposed for the rolling motion control problem of zero-speed ships. By combining the neural network with the disturbance observer technique, the internal and external uncertainties of the rolling motion control system of zero-speed ships are overcome. Considering that the ship's rolling angular velocity is difficult to be measured accurately under the actual sea state, the state observer is introduced to estimate the unknown rolling angular velocity. Finally, the simulation results verify the effectiveness of the control scheme.