A fuzzy track-keeping autopilot for ship steering

被引：0
|
作者：
Omerdic, E. [1 ]
Roberts, G.N. [1 ,3 ,4 ,5 ]
Vukic, Z. [2 ,6 ,7 ]
机构：
[1] Mechatronics Research Centre, University of Wales College, Newport, United Kingdom
[2] University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, Croatia
[3] Department of Mechatronics, United Kingdom
[4] IFAC Technical Committee on Marine Systems, United Kingdom
[5] IFAC Technical Committee on Mechatronic Systems, United Kingdom
[6] Department of Control Engineering, University of Zagreb, Faculty of Electrical Engineering and Computing, Croatia
[7] IEEE Control Systems/Robotics, Automation Society, Croatia
来源：
Proceedings of the Institute of Marine Engineering, Science and Technology Part A: Journal of Marine Engineering and Technology | 2003年 / 02期
关键词：
Air navigation;
D O I：
暂无
中图分类号：
V355 [空中管制与飞行调度];
学科分类号：
摘要：
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) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a 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.
引用
收藏
页码：23 / 29
相关论文
共 50 条
  • [31] A Fuzzy PID Autopilot for Ship Steering Based on Membership Function Optimized by an Improved Genetic Algorithm
    Yang, Chengming
    Zou, Zaojian
    JOURNAL OF MULTIPLE-VALUED LOGIC AND SOFT COMPUTING, 2018, 30 (4-6) : 559 - 572
  • [32] A novel switching control for ship course-keeping autopilot with steering machine bias failure and fault alarm
    Zhang, Xuelin
    Xu, Xiaobin
    Li, Jianning
    Ma, Feng
    Chen, Yangjie
    Xu, Xiaojian
    Shen, Meiyan
    OCEAN ENGINEERING, 2022, 261
  • [33] 3D Track-keeping Method for Autonomous Underwater Vehicle
    WANG Wei
    JournalofMarineScienceandApplication, 2002, (02) : 18 - 22
  • [34] 3D track-keeping method for autonomous underwater vehicle
    Wei Wang
    Xin-Qian Bian
    Zong-Hu Chang
    Journal of Marine Science and Application, 2002, 1 (2) : 18 - 22
  • [35] Successive learning track-keeping control (SLTC) algorithm for seafloor vehicle
    Qi, T
    Chung, JS
    PROCEEDINGS OF THE NINTH (1999) INTERNATIONAL OFFSHORE AND POLAR ENGINEERING CONFERENCE, VOL II, 1999, 1999, : 441 - 446
  • [36] Research on simulation and design of adaptive track-keeping control system for ships
    Huang, Y.
    Fang, Y.
    Xitong Fangzhen Xuebao / Journal of System Simulation, 2001, 13 (05): : 608 - 610
  • [37] Successive learning track-keeping control (SLTC) algorithm for seafloor vehicle
    Qi, T.
    Chung, Jin S.
    Proceedings of the International Offshore and Polar Engineering Conference, 1999, 2 : 441 - 446
  • [38] ADAPTIVE SLIDING MODE CONTROL FOR SHIP AUTOPILOT WITH SPEED KEEPING
    Liu, Zhiquan
    POLISH MARITIME RESEARCH, 2018, 25 (04) : 21 - 29
  • [39] Manual steering and robust adaptive constrained control of ship autopilot
    Huang, Chenfeng
    Zhao, Yi
    Li, Bo
    Zhang, Guoqing
    OCEAN ENGINEERING, 2024, 312
  • [40] Design of a trainable fuzzy autopilot for ship maneuvering
    Guo, JW
    Chen, BC
    FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, 1996, : 1557 - 1562
12345