Adaptive Neural Dynamic Surface Tracking Control for Intelligent Ship Autopilot with Output Constraint

An adaptive neural tracking controller is discussed for intelligent ship autopilot with output constraint in this note. By introducing the conventional barrier Lyapunov function method, a category of output constraint problem can be handled. By uniting the adaptive backstepping algorithm and neural network, an adaptive control scheme is constructed and it can be demonstrated that all the signals of the resulting system are bounded and output signal can track the reference signal. Eventually, the simulation result verifies the feasibility of the control method.