摘要：An integral sliding mode controller with neural network was investigated for ship navigation, which realizes the accurate and stable tracking of the ship in the steering process, on the basis of backstepping method. First of all, an integrator sliding surface were designed with the sliding mode variable structure control technology. Secondly, radial basis function neural network was applied to approximate the system nonlinear function and uncertain parameters. Furthermore, a nonlinear damping law was introduced to overcome the bounded outside interference. Finally, on the basis of the above, the system control law was deduced by using the backstepping method. The simulation results show that the neural network can accurately approximate the nonlinear function and uncertain parameters of the ship, and the controller output is smooth and the heading output is not sensitive to perturbation of parameters and external disturbance, and the controller has strong robustness.
