Dynamic fuzzy neural control of uncertain surface ships with unknown disturbances

In this paper, a dynamic fuzzy neural control (DFNC) scheme for trajectory tracking of a surface ship with unmodeled dynamics and unknown time-varying disturbances is proposed. System uncertainties and unknown dynamics are identified online by a dynamic fuzzy neural network (DFNN) which is implemented by employing dynamic fuzzy rules according to the structure learning criteria. The entire DFNC system is globally asymptotical stable.