Adaptive Fuzzy Controller Using Gain-Scaling Method for Autopilot Ship Steering with Nonlinear System

[ Abdollah Pour ] - Center of Excellence In Design, Robotics, and Automation, Faculty of Mechanical Engineering ,Sharif University of Technology, Tehran , Iran
[ Sharifi sedeh ] - Center of Excellence In Design, Robotics, and Automation, Faculty of Mechanical Engineering ,Sharif University of Technology, Tehran , Iran
[ Kazemi ] - Center of Excellence In Design, Robotics, and Automation, Faculty of Mechanical Engineering ,Sharif University of Technology, Tehran , Iran
[ Ahmadian ] - Center of Excellence In Design, Robotics, and Automation, Faculty of Mechanical Engineering ,Sharif University of Technology, Tehran , Iran

خلاصه مقاله:

Here, we present a path-tracking-adaptive-fuzzy-control algorithm for autopilot ship steering, a nonlinear system. In the proposed algorithm, fuzzy logic systems have been used to approximating lumped function in the ship steering systems. In addition, an adaptive mechanism with fuzzy controller has been used to gaining scaling for the main fuzzy controller. To obtain better performance, we proposed a controller for the power system with two kinds of fuzzy controller, which guarantees the asymptotical stability of ship steering autopilot system and approaching of its tracking error to zero.

adaptive control; autopilot control; fuzzy control; gain scaling