Abstract
An adaptive fuzzy gain autopilot for ship track-keeping is developed. This autopilot is composed of Sugeno fuzzy type autopilot in an ordinary feedback loop and adjustable scaling factors mechanism in an additional feedback loop. The adjustment mechanism represents a fuzzy controller that changes scaling factors of the base fuzzy autopilot. The control system for the track-keeping is completely described. For the track-keeping problem, the maneuver of way-point turning and ship guiding through a complex path (trajectory) are presented. The influence of sea current and wave disturbances on track-keeping performance was also considered. Simulation results obtained by the Sugeno fuzzy type autopilot are first presented. Then, those results are compared with ones obtained by an adaptive fuzzy autopilot.
| Original language | English |
|---|---|
| Pages (from-to) | 433-443 |
| Number of pages | 11 |
| Journal | Control Engineering Practice |
| Volume | 11 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Apr 2003 |
| Externally published | Yes |
Keywords
- Adaptive fuzzy control
- Disturbance rejection
- Fuzzy gain concept
- Fuzzy self-organizing controller
- Fuzzy self-tuning controller
- Ship control
- Track-keeping