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A Fuzzy Track-keeping Autopilot for Ship Steering (CROSBI ID 100058)

Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija

Omerdić, Edin ; Roberts, Geoff ; Vukić, Zoran A Fuzzy Track-keeping Autopilot for Ship Steering // Proceedings of the Institute of Marine Engineering, Science and Technology. Part A, Journal of marine engineering and technology, (2003), 2; 23-36-x

Podaci o odgovornosti

Omerdić, Edin ; Roberts, Geoff ; Vukić, Zoran

engleski

A Fuzzy Track-keeping Autopilot for Ship Steering

In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i)follow the desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfill these tasks simultanously. The proposed control scheme has been verified using non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.

Fuzzy autopilot; track-keeping; ship; nonlinear autopilot

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Podaci o izdanju

(2)

2003.

23-36-x

objavljeno

1476-1548

Povezanost rada

Elektrotehnika

Indeksiranost