Adaptive Heading Tracking Control of Intelligent Ship with Stochastic Noise and Dead Zone Output

In this paper, the issue of intelligent ship heading control is investigated in the presence of the stochastic noise and unknown dead zone output. Considering that the stochastic noise is very common in complex sea areas, thus, the control problem of ship heading under stochastic noise is discussed by utilizing the stochastic quartic Lyapunov function. The dead zone output is taken into consideration, which hasn’t been studied in the related ship control results. And a kind of smooth approximate model is introduced to unfasten the influence results from the dead zone output successfully. Furthermore, a state observer is constructed to estimate all the unmeasural system states. An improved first-order filter is integrated into the control design to deal with the undesired issue of "differential explosion". The proposed control tactic can achieve the heading tracking control goal with the prescribed performance bound (PPB) by theoretical analysis. Finally, the effectiveness of the theoretical result is verified via the simulation experiments.