Zhengjiang Liu

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A novel output feedback strategy is presented for the berthing control of underactuated surface ships with nonintegrable acceleration constraint. Saturations on actuators, systemic uncertainties and drift caused by current or wind are considered. The problems of trajectory planning and tracking are circumvented by means of iterative nonlinear sliding mode(More)
International Maritime Organization (IMO) implements the principles of risk management through a systematic process called Formal Safety Assessment (FSA). FSA is a structured and systematic methodology, aimed at enhancing maritime safety, including protection of life, health, the marine environment and property, by using risk analysis and cost benefit(More)
A recurrent wavelet neural network (RWNN) is introduced to realize identification and control of system with time delay. The identification is based on model type of nonlinear auto-regressive with exogenous inputs (NARX). The method incorporates the delayed massage of the system, the resulting model can give predictions to the object system. The(More)
A wavelet neural network approach is proposed for ship control purpose using nonparametric regression estimation method. The proposed wavelet neural network estimator makes use of residual based selection algorithm for hidden units' selection and adjusts the connecting parameters with back propagation method. It is capable of handling nonlinear regressions(More)
For a class of nonlinear systems in a semistrict feedback form with both parametric uncertainty and unknown nonlinearities, a new control design scheme based on backstepping approach is proposed. The Nussbaum gain technique is used as a robust control term to deal with unknown nonlinearities for the first time. This gives a continuous control, in contrast(More)