Adaptive Fuzzy Control For Ship Autopilot with Course Constraint Based on Event-Triggered Mechanism

摘要

This paper develops an adaptive fuzzy control (AFC) method for ship autopilot systems with course constraint based on event-triggered mechanism. The fuzzy logic systems are utilized to identify the unknown nonlinear function existing the ship autopilot model. Meanwhile, we consider the course constraint problem of ship autopilot deployed in a narrow channel. The predefined course constraint is ensured by virtue of barrier Lyapunov function. To reduce the acting frequencies of actuator rudder, the event-triggered mechanism is integrated into controller procedure. The created control method can achieve the desired control performance compared with traditional time-triggered control law, while guarantees the boundedness of the ship autopilot systems. The validity is elucidated by simulation example.