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Control of Underactuated-Ship Maneuvers Using Neural Gain Compensators

[+] Author Affiliations
A. Saeed, E. M. Attia, A. A. Helmy, T. Awad

Alexandria University

Paper No. IMECE2005-79111, pp. 849-854; 6 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


This paper addresses the trajectory-tracking problem of a 3-Degrees of Freedom (3 DOF) underactuated mariner class vessel. Feed-forward artificial neural networks were designed to enable the ship to track parabolic and S-shaped trajectories. A closed-feedback control system was developed using additional feed-forward neural gain compensators to minimize the path deviation and to obtain the required control input rudder angle. The results show that the path deviation is 6% when the main neural network is used without the gain compensator. The path deviation is limited to a maximum of 3% when the gain compensator is used alongside the main network.

Copyright © 2005 by ASME
Topics: Ships



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