Indirect fuzzy adaptive heading control of surface ships

Considering uncertainties and unmodeled dynamics understanding the nonlinear system of ship heading, an kind of indirect fuzzy adaptive control scheme is proposed by employing a T-S fuzzy approximator, and thereby contributing to heading control of surface ships. Combining Norbbin nonlinear model with the feedback linearization technique, we design the nonlinear control law based on fuzzy approximation. Furthermore the adaptive laws of parameters in the fuzzy system are derived from the Lyapunov approach and projection algorithm, which guarantees the stability of the closed-loop control system. Simulation results demonstrate the effectiveness and superiority of the proposed indirect fuzzy adaptive controller.