|
An assessment of fuzzy logic
vessel path control
Parsons,
M.G. Chubb,
A.C. Yusong
Cao
Dept. of
Naval Archit. & Marine Eng., Michigan Univ., Ann Arbor,
MI;
This paper appears
in: Oceanic Engineering, IEEE Journal
of
On page(s):
276-284
Volume: 20,
Oct
1995
ISSN:
0364-9059
References
Cited: 21
CODEN:
IJOEDY
INSPEC Accession
Number: 5102912
Abstract:
A fuzzy logic controller for ship path
control in restricted waters is developed and evaluated. The
controller uses inputs of heading, yaw rate, and lateral
offset from the nominal track to produce a commanded rudder
angle. Input variable fuzzification, fuzzy associative memory
rules, and output set defuzzification are described. Two
maneuvering situations are evaluated: track keeping along a
specified path where linearized regulator control is valid;
and larger maneuvers onto a specified path where nonlinear
modeling and control are required. For the track keeping
assessment, the controller is benchmarked against a
conventional linear quadratic Gaussian (LQG) optimal
controller and Kalman filter control system. The Kalman filter
is used to produce the input state variable estimates for the
fuzzy controller as well. An initial startup transient and
regulator control performance with an external hydrodynamic
disturbance are evaluated using linear model simulations of a
crude oil tanker. A fully nonlinear maneuvering model for a
smaller product tanker is used to assess the larger maneuvers
Index Terms:
Kalman
filters associative
processing fuzzy
control performance
evaluation position
control ships
state
estimation tracking
Documents that cite this
document
Select link to view other documents in the
database that cite this one.
|
