Adaptive Dynamic Surface Control for Path Following of Ships

This paper proposes a nonlinear adaptive controller designed based on the Dynamic Surface Control (DSC) method combining the Line of Sight (LOS) control law for designing the controller of ship course tracking steering. The RBF (Radial Basis Function) neural network is used in order to solve the mathematical model of the uncertain ship steering system during operation at different conditions. The properties of the controller are verified through simulations with two cases of ship model with different model parameters.