Real-time application of a self-organising autopilot to warship yaw control

In this paper consideration is given to the real-time application of a fuzzy self-organising controller (SOC) to the control of an analogue model of the nonlinear yaw dynamics of a Royal Navy warship. The SOC algorithm being a modified version of that proposed by Sugiyama (1986). For completeness and comparison purposes, the responses obtained using the SOC are matched with those from an optimised PID controller and a self-tuning control algorithm