Intelligent Control Adopted CMAC for Twin-rudder Twin-propeller Ship Course Tracking

【摘要】：Ship is a typical multi-input and multi-output nonlinear system, which has the characteristics of large inertia and large time delay. In this paper, the mathematical model of the twin-rudder twin-propeller ship with interference under oceanic navigation conditions is established by using MMG separation model, and the maneuvering test under full load is discussed. In order to overcome the disturbances, a novel approach is proposed that Cerebellar Model Articulation variable-parameter PID integrated controller(CMAC-VPID),which is a practical tool for improving nonlinear control systems, and it can effectively reduce tracking error of the control system. The intelligent control algorithm is illustrated by simulation results of Maersk Triple E large container ship as an example.