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Model reference adaptive robust fuzzy control for ship steering autopilot with uncertain nonlinear systems
Authors:Yansheng Yang  Changjiu Zhou  Jusheng Ren
Affiliation:aNavigation College, Dalian Maritime University, Dalian, PR China;bSchool of Electrical and Electronic Engineering, Singapore Polytechnic, 500 Dover Road, Singapore 139651, Singapore
Abstract:A novel model reference adaptive robust fuzzy control algorithm is presented for ship steering autopilot, which is an uncertain nonlinear system. In the proposed algorithm, fuzzy logic systems have been used to approximate lumped unknown function in the ship steering systems and the adaptive mechanism with minimal learning parameter, i.e. only one parameter, has been achieved by use of Lyapunov approach. The proposed methodology is verified using the simulation mode of the Dalian Maritime University's ocean-going training ship named Yulong. It is shown that the proposed algorithm guarantees that the ship steering autopilot system is asymptotically stable and its tracking error can approach to zero.
Keywords:Nonlinear systems  Uncertainty  Model reference adaptive robust control  Fuzzy control  Ship autopilot
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