Abstract
In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.
| Original language | English |
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| Pages (from-to) | 23-29 |
| Number of pages | 7 |
| Journal | Proceedings of the Institute of Marine Engineering, Science and Technology Part A: Journal of Marine Engineering and Technology |
| Issue number | 2 |
| Publication status | Published - 2003 |
| Externally published | Yes |