Xây dựng phương pháp điều khiển thích nghi trên nền tối ưu cho hệ lái tàu thủy

                      !"# $%&'                             ()*+,-,.                     !"# $%&'     !"#$%"&'%()*&+"),!- %.(/!"01 2345#67898:;            R K7777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777VW  JA:  B"DE!%PQ!"bUF`&$(jC- 4.~!(i!"MT1c"DE!c"UcAAAAAAAAAAAAAAAAAA7  JA:A: )_!(~)FK"Q!"MT1% &%"TNAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA7 JA:A8 B"DE!%PQ!"1F)O%C!I1MCb)I411M4M"Cb )%CU!()*&+"),!bUF%5)D& `&$(jCAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA; JA:AJ . 4&N )[F !")}& -  (/ ~! (i!" MT1 )[) c"Uc M"C c"DE! %PQ!"  AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA  JA8  "&'%%CU!CIcCO)MN(,)[)c"DE!%PQ!"bUF`&$(jCAAAAAAAAAAAAAAA6  JA8A: "&'%%CU!CIcCO)MNM"C()*&+"),!%5)D&b*!-q!AAAAAAAAAAAAAAAAA6 JA8A8 B"H!%]M"4."/)%vMT1%"&'%%CU!JA:AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA69  JA8AJ "&'%%CU!CIcCO)MNM"C()*&+"),!%5)D&b*!-q!AAAAAAAAAAAAAAAA6;  JA8Az B"H!%]M"4."/)%vMT1%"&'%%CU!JA8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA6  JA8A7 "&'%%CU!CIcCO)MNM"C()*&+"),!%5)D&b*!-q!4eVv!Fj! !EIPC!AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA66 JA8A; 2Kc"n!d4C4U!"- (U!")UAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA:9: JAJ  _%O&'!M"DE!JAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA:96 )-   G&XY" '&X7777777777777777777777777777OO-  >DR"KZR$77777777777777777777777777777777777OO,  &%>C77777777777777777777777777777777777777777777777777777777777777777777777777777777777OO  D&D 777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777OO[                                        -     158>\0]0^*_