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

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