| 船舶航迹保持的神经网络控制器研究 |
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| 引用本文： | 陈雪丽,程启明. 船舶航迹保持的神经网络控制器研究[J]. 河海大学学报(自然科学版), 2001, 29(5): 70-73 |
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| 作者姓名： | 陈雪丽 程启明 |
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| 作者单位： | 1. 京师范大学电气工程学院
2. 盐城工学院计算机系 |
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| 摘 要： | 提出一种船舶航迹保持在线神经网络控制器。该控制器能解决精确的船舶动态模型难以建立的问题，能用舵角同时控制航迹偏差和航向偏差，能通过对控制精度的直接计算来自动地在线训练学习而不需离线训练学习过程。计算机仿真结果表明了该控制器训练方法的有效性和控制的鲁棒性。
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| 关 键 词： | 神经网络 自动舵 船舶 控制器 |
| 文章编号： | 1000-1980(2001)05-0070-04 |
| 修稿时间： | 2000-06-15 |
Neural Network Controller for Ship Track-Keeping |
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| CHEN Xue li ,CHENG Qi ming. Neural Network Controller for Ship Track-Keeping[J]. Journal of Hohai University (Natural Sciences ), 2001, 29(5): 70-73 |
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| Authors: | CHEN Xue li CHENG Qi ming |
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| Affiliation: | CHEN Xue li 1,CHENG Qi ming 2 |
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| Abstract: | Introducted is an on line trained neural network controller for ship track keeping.The neural controller is proposed for the occasions when the precise dynamic model is not available.It uses the rudder angle to regulate both the tracking error and the heading error;and adapts itself on line through direct evaluation of control accuracy,and it does not need a'teacher' or an off line training process.The simulation results reveal the effectiveness of the training method and the robust performance of the neural control strategy. |
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| Keywords: | track keeping neural network direct adaptive learning method autopilot |
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