engleski

Improved fuzzy autopilot for track-keeping

Improved 2-input fuzzy autopilot for ship course control and 3-input fuzzy autopilot for track-keeping are proposed. Nonlinear model of a ship and a steering subsystem is used. The 3-input fuzzy autopilot uses heading signal, yaw rate signal and lateral offset from the nominal track to produce a command rudder angle. Input variable fuzzyfication, fuzzy associative memory rules and output defuzzyfication are described. Obtaining FAM rules for 3-input fuzzy is described. Dynamical behaviour of 2 and 3-input fuzzy autopilot is compared. The influence of wave disturbance, sea current and external disturbance from passing ship on track-keeping performance was analyzed.

disturbance rejection; fuzzy control; nonlinear control systems; ship control

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