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
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