Naslov
A Fuzzy Track-keeping Autopilot for Ship Steering

Autori
Omerdić, Edin ; Roberts, Geoff ; Vukić, Zoran

Izvornik
Journal of Marine Engineering and Technology. Part A (1476-1548) (2003), 2; 23-36

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Fuzzy autopilot; track-keeping; ship; nonlinear autopilot

Sažetak
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)follow the desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfill these tasks simultanously. The proposed control scheme has been verified using 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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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