Adaptive RBF -SMC control for multi-point mooring system

A stable adaptive control scheme for multi-point mooring system (MPMS) with uncertain dynamics is proposed in this paper. The designed by a hybrid controller based on RBF (Radial Basis Function) NN (Neural Network) and SMC (Sliding Mode Control), which learns the MPMS dynamic changes, compensation of external disturbances realized through RBFNN control. Meanwhile RBF-SMC parameters are adapted Lyapunov method to minimize squares positioning (DP) error. convergence proved theoretically, applied “Kantan3” simulation system. Finally, results compared traditional PID standard demonstrate effective performance MPMS.