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Broad Learning System-based Automatic Speed Tracking Control of Marine Surface Vessel

The speed control of ships occupies an important position in the fields of ship motion control. Considering the speed control problem of hydrodynamic parameter variation and unknown disturbances, this paper proposes an automatic speed tracking control method of ships based on broad learning system (BLS). The derivation results show that the controller can ensure the asymptotic stability of the error of the speed control system. The simulation results show that this method has stronger adaptive and learning ability and better performance than other methods. It can adaptively adjust the parameters of PID controller according to the current disturbances and system output, and can effectively suppress the disturbances caused by the change of hydrodynamic parameters and the external unknown disturbances.