A fuzzy model of the helmsman performing a course-keeping task

The development of a model that describes the control characteristics of a helmsman whilst course-keeping is reported herein. The basic element of the helmsman model is a fuzzy role-based course-keeping algorithm. The model is used in digital computer simulations to control the non-linear yaw dynamics of a Royal Navy warship model which is subjected to sea state disturbances. For comparison purposes, another helmsman model is developed using linear systems theory. Validation of both models is made by comparing real-time analogue simulation results produced by actual helmsmen with those obtained digitally. Both helmsman models are found to reproduce acceptable yaw response predictions, whilst the fuzzy model more closely approximates the control input of a helmsman.