| With the increasing in maritime transport, ships are trending to large-scale and high-speed, which lead to the sea traffic density increasing. At the same time, the ship will be all kinds of unpredictable disturbance. All these problems would make the ship maneuvering more and more complex. So, it is an important study for present shipping countries to design ship control systems with steady control performance and high control precision by taking into account all the characteristics of the ship control systems. The ship's trajectory control automation is one important part of the high-tech ships sailing automation.This article focuses on linear track ship movement as the object of study, the sliding mode control, adaptive control, Backstepping method and neural network function approximation methods are introduced into the straight-line trajectory tracking control for ships. The main work and accomplishment of the thesis includes:Firstly, the nonlinear mathematic model with 3 DOF (degree of freedom) for the vessel straight-route tracking control system is established, and grounded the route controller design procedures will based on the obtained system model.For the unknown of ship model parameters, known symbols controller gain and Interference with the uncertainty of ship linear motion model were studied, and synovial variable structure control theory was introduced into the mathematical model of the ship track in a straight line, designed a method of adaptive sliding mode tracking controller tracks. Items with uncertain functions, uncertain disturbances, the controller gain sign unknown ship linear motion control model has been studied, based on the adaptive Backstepping design methods, used the unknown nonlinear function of RBF neural network approach model, designed a method of adaptive neural network controller.Finally, by using Matlab, the simulation results are presented to verify the correctness and effectiveness of the designed controller.
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