Robust Adaptive Fuzzy Control of Marine Craft

摘要

This paper introduces some intelligent control strategies for marine craft. By looking at some existing problems in this area, e.g. the uncertainties and nonlinearities in ship dynamic model and time delay in ship actuator system, three types of control strategies are studied, namely, robust PID control for ship steering, adaptive fuzzy robust tracking control (AFRTC) for ship steering, and adaptive fuzzy Hinf control for ship roll stabilization. The effectiveness of the three control strategies are demonstrated by ship simulation. This paper is dedicated to the memory of Professor YS Yang for his pioneer work on robust adaptive fuzzy control of marine craft.