·260· 智能系统学报 第13卷 2002,38(2):301-309 [17]FOSSEN T I.Marine control systems:guidance,naviga- [7]DO K D,JIANG Z P,PAN J.Underactuated ship global tion and control of ships,rigs and underwater vehicles[M] tracking under relaxed conditions[J].IEEE transactions on Trondheim,Norway:Marine Cybernetics,2002:35-129. automatic control,2002.47(9):1529-1536. [18]DO K D,JIANG Z P,PAN J.Universal controllers for sta- [LI Zhen,SUN Jing.OH S.Design,analysis and experiment- bilization and tracking of underactuated ships[J.Systems al validation of a robust nonlinear path following controller and control letters,2002,47(4):299-317. for marine surface vessels[J].Automatica,2009,45(7): [19]PARK J,SANDBERG I W.Universal approximation us- 1649-1658. ing radial-basis-function networks[].Neural computation, [9]POMET J B,PRALY L.Adaptive nonlinear regulation:es- 1991,3(2):246-257. timation from the Lyapunov equation[J].IEEE transactions 20]CHWA D.Global tracking control of underactuated ships on automatic control,1992,37(6):729-740. with input and velocity constraints using dynamic surface [10]DO K D,PAN J.Global robust adaptive path following of control method[J].IEEE transactions on control systems underactuated ships[J].Automatica,2006,42(10):1713- technology,2011,19(6):1357-1370. 1722. [21]DO K D,PAN J.Robust path-following of underactuated [11]DO K D,PAN J.Global tracking control of underactuated ships:theory and experiments on a model ship[J].Ocean ships with nonzero off-diagonal terms in their system engineering.2006,33(10:13541372 matrices[J].Automatica,2005,41(1):87-95. 22]叶松，陈永冰，周岗，等.海浪干扰对船舶航向影响规律 [12]LIU Lu,WANG Dan,PENG Zhouhua.Path following of 研究円.舰船电子工程，2015,35(1)：65-67 marine surface vehicles with dynamical uncertainty and YE Song,CHEN Yongbing,ZHOU Gang,et al.Effect of time-varying ocean disturbances[J].Neurocomputing, waves interference on ship course[J].Ship electronic en- 2016,173:799-808 gineering,.2015,35(1):65-67. [13]SHOJAEI K.Neural adaptive robust control of underactu- 作者简介： ated marine surface vehicles with input saturation[J].Ap- 杨迪，男，1989年生，讲师，主要 plied ocean research,2015,53:267-278. 研究方向为智能控制理论与应用、欠 [14]MENG Wei,GUO Chen.Global sliding mode based adapt- 驱动船舶运动控制。 ive neural network path following control for underactu- ated surface vessels with uncertain dynamics[C]//Proceed- ings of the 3th International conference on Intelligent Con- trol and Information Processing.[S.1.],2012:40-45. [15]段海庆，朱齐丹.基于反步自适应神经网络的船舶航迹 郭晨，男，1956年生，教授，博士 控制.智能系统学报，2012,7(3)：259-264. 生导师，研究方向为船舶自动控制系 DUAN Haiqing,ZHU Qidan.Trajectory tracking control 统、智能控制理论与应用。 of ships based on an adaptive backstepping neural network [J].CAAI transactions on intelligent systems,2012,7(3): 259-264. 16刘杨，郭晨，沈智鹏，等.欠驱动船舶路径跟踪的神经网 络稳定自适应控制J1.控制理论与应用，2010,27(2)： 朱玉华，女，1971年生，副教授， 主要研究方向为现代控制理论、最优 169-174. 控制。 LIU Yang,GUO Chen,SHEN Zhipeng,et al.Stable adapt- ive neural network control of path following for underactu- ated ships[J].Control theory and applications,2010,27(2): 169-1742002, 38(2): 301–309. DO K D, JIANG Z P, PAN J. Underactuated ship global tracking under relaxed conditions[J]. IEEE transactions on automatic control, 2002, 47(9): 1529–1536. [7] LI Zhen, SUN Jing, OH S. Design, analysis and experiment￾al validation of a robust nonlinear path following controller for marine surface vessels[J]. Automatica, 2009, 45(7): 1649–1658. [8] POMET J B, PRALY L. Adaptive nonlinear regulation: es￾timation from the Lyapunov equation[J]. IEEE transactions on automatic control, 1992, 37(6): 729–740. [9] DO K D, PAN J. Global robust adaptive path following of underactuated ships[J]. Automatica, 2006, 42(10): 1713– 1722. [10] DO K D, PAN J. Global tracking control of underactuated ships with nonzero off-diagonal terms in their system matrices[J]. Automatica, 2005, 41(1): 87–95. [11] LIU Lu, WANG Dan, PENG Zhouhua. Path following of marine surface vehicles with dynamical uncertainty and time-varying ocean disturbances[J]. Neurocomputing, 2016, 173: 799–808. [12] SHOJAEI K. Neural adaptive robust control of underactu￾ated marine surface vehicles with input saturation[J]. Ap￾plied ocean research, 2015, 53: 267–278. [13] MENG Wei, GUO Chen. Global sliding mode based adapt￾ive neural network path following control for underactu￾ated surface vessels with uncertain dynamics[C]//Proceed￾ings of the 3th International conference on Intelligent Con￾trol and Information Processing. [S.l.], 2012: 40–45. [14] 段海庆, 朱齐丹. 基于反步自适应神经网络的船舶航迹 控制[J]. 智能系统学报, 2012, 7(3): 259–264. DUAN Haiqing, ZHU Qidan. Trajectory tracking control of ships based on an adaptive backstepping neural network [J]. CAAI transactions on intelligent systems, 2012, 7(3): 259–264. [15] 刘杨, 郭晨, 沈智鹏, 等. 欠驱动船舶路径跟踪的神经网 络稳定自适应控制[J]. 控制理论与应用, 2010, 27(2): 169–174. LIU Yang, GUO Chen, SHEN Zhipeng, et al. Stable adapt￾ive neural network control of path following for underactu￾ated ships[J]. Control theory and applications, 2010, 27(2): 169–174. [16] FOSSEN T I. Marine control systems: guidance, naviga￾tion and control of ships, rigs and underwater vehicles[M]. Trondheim, Norway: Marine Cybernetics, 2002: 35–129. [17] DO K D, JIANG Z P, PAN J. Universal controllers for sta￾bilization and tracking of underactuated ships[J]. Systems and control letters, 2002, 47(4): 299–317. [18] PARK J, SANDBERG I W. Universal approximation us￾ing radial-basis-function networks[J]. Neural computation, 1991, 3(2): 246–257. [19] CHWA D. Global tracking control of underactuated ships with input and velocity constraints using dynamic surface control method[J]. IEEE transactions on control systems technology, 2011, 19(6): 1357–1370. [20] DO K D, PAN J. Robust path-following of underactuated ships: theory and experiments on a model ship[J]. Ocean engineering, 2006, 33(10): 1354–1372. [21] 叶松, 陈永冰, 周岗, 等. 海浪干扰对船舶航向影响规律 研究[J]. 舰船电子工程, 2015, 35(1): 65–67. YE Song, CHEN Yongbing, ZHOU Gang, et al. Effect of waves interference on ship course[J]. Ship electronic en￾gineering, 2015, 35(1): 65–67. [22] 作者简介： 杨迪，男，1989 年生，讲师，主要 研究方向为智能控制理论与应用、欠 驱动船舶运动控制。 郭晨，男，1956 年生，教授，博士 生导师，研究方向为船舶自动控制系 统、智能控制理论与应用。 朱玉华，女，1971 年生，副教授， 主要研究方向为现代控制理论、最优 控制。 ·260· 智 能 系 统 学 报 第 13 卷