Joint fuzzy controller and fuzzy disturbance compensator in ship autopilot system: investigate stability in environmental conditions

Xuan-Kien Dang; Le Anh-Hoang Ho

Authors

Xuan-Kien Dang Ho Chi Minh City University of Transport, Ho Chi Minh City, Vietnam
Le Anh-Hoang Ho Van Hien University, Ho Chi Minh City, Vietnam

Keywords:

disturbance compensator, fuzzy controller, nonlinear system, ship autopilot, tracking control

Abstract

The autopilot system is a nonlinear and complex control process that results primarily from changes due to the influence of the operating environment. Separate oceans have different characteristics. In this paper, we proposed a joint fuzzy controller and fuzzy disturbance compensator (FC-FDC) in the ship autopilot system under the impact of the nonlinear error caused by feedback states errors, random delays, uncertain models, and environmental disturbances. In the process of controlling, the designed structure of FC-FDC not only performs ship tracking control but also reduces the effect disturbance while increasing the robustness of the system. As exemplified by selecting types of ships for simulating the FC-FDC ship autopilot system in MATLAB, the simulation results proved the efficiency and advantages of the proposed method.

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