LSSVM-IMC control for ship course-keeping system

To solve the problem of ship steering-machine velocity-saturation, course-keeping least squares support vector machines-internal model control (LSSVM-IMC) control system was designed. This control system used two-port internal model, and set up internal model controller and observation with online incremental algorithm of LSSVM. The simulation shows that this control system has good adaptive ability with a variety of ocean conditions, especially under high-wave-level environment. This method can cut the saturation ratio of rudder angular velocity and the power of steering machine effectively.