A feedback-dominance based adaptive back-stepping (FDBAB) controller is designed to drive a container ship to follow a predefined path. In reality, current, wave and wind act on the ship and produce unwanted disturbances to the ship control system. The FDBAB controller has to compensate for such disturbances and steer the ship to track the predefined (or desired) path. The difference between the actual and the desired path along which the ship is to sail is defined as the tracking error. The FDBAB controller is built on the tracking error model which is developed based on Serret-Frenet frame transformation (SFFT). In additional to being affected by external disturbances, the ship has more outputs than inputs (under-actuated), and is inherently nonlinear. The back-stepping controller in FDBAB is used to compensate the nonlinearity. The adaptive algorithms in FDBAB is employed to approximate disturbances. Lyapunov's direct method is used to prove the stability of the control system. The FDBAB controlled system is implemented in Matlab/Simulink. The simulation results verify the effectiveness of the controller in terms of successful path tracking and disturbance rejection.

中文翻译：

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用于路径跟踪的集装箱船的自适应后退控制

基于反馈优势的自适应反步 (FDBAB) 控制器旨在驱动集装箱船遵循预定义的路径。实际上，海流、波浪和风作用在船舶上，并对船舶控制系统产生不必要的干扰。FDBAB 控制器必须补偿这种干扰并引导船舶跟踪预定（或期望）的路径。船舶航行的实际路径和期望路径之间的差异被定义为跟踪误差。FDBAB 控制器建立在基于 Serret-Frenet 帧变换 (SFFT) 开发的跟踪误差模型上。除了受外部干扰的影响外，该船的输出多于输入（欠驱动），并且本质上是非线性的。FDBAB 中的反步控制器用于补偿非线性。FDBAB 中的自适应算法用于逼近干扰。Lyapunov直接法用于证明控制系统的稳定性。FDBAB 控制系统在 Matlab/Simulink 中实现。仿真结果验证了控制器在成功路径跟踪和干扰抑制方面的有效性。