89 Design of Adaptive Fuzzy Sliding Mode Controller for Ship Course Control
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In this paper, the adaptive fuzzy sliding mode controller (AFSMC) is designed for ship course controller. By adopting the fuzzy logic system to approximate uncertain function of the ship dynamic system and the switching-type control term in the sliding mode control law, the control law is designed and chattering problem of sliding mode control is relieved. An online adaptive tuning algorithm is also designed. Based on the Lyapunov function, it is proved in theory that the controller makes all signals in the system of ship motion uniformly bounded and tracking errors converging to zero. Simulation studies on the course-keeping and course-changing in the presence of parameter perturbation and environment disturbances have shown that the proposed controller has superior controlling effect and fairly strong robustness.