Adaptive fuzzy ship autopilot for track-keeping

摘要

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.