Abstract :
In general, conventional ships have mono-variable autopilot, which controls the heading of the ship affected by perturbations, in course-keeping or course-changing maneuvers. It takes into account only the yaw angle and ignores the roll movements. Intelligent control systems can be designed, considering the ship as 2 DOF underactuated system, with yaw angle and roll angle as outputs, and rudder as control input. A neuro-fuzzy system is proposed, which modifies the autopilot commands, so that roll damping effects and heading performance to be obtained simultaneously, with small rudder angle and rudder rate values. The system can be used with any conventional autopilot with slow steering machine.
Keywords :
control system synthesis; fuzzy control; fuzzy neural nets; motion control; neurocontrollers; ships; autopilot commands; course-changing maneuvers; course-keeping maneuvers; degree of freedom; intelligent control systems design; intelligent course control; neuro-fuzzy system; roll damping effects; underactuated conventional ships; Actuators; Control systems; Force control; Frequency; Fuzzy neural networks; Intelligent control; Intelligent systems; Marine vehicles; Motion control; Telecommunication control;
