A path planning control for a vessel dynamic positioning system based on robust adaptive fuzzy strategy

The thrusters and propulsion propellers systems, as well the operating situations, are all well-known nonlinearities which caused less accuracy of dynamic positioning system (DPS) vessels in path planning control process. In this study, to enhance robust performance DPS, we proposed a adaptive fuzzy model reduce effect uncertainty problems disturbances on DPS. Firstly, controller with law is designed adjust membership function minimize error vessel. Secondly, H∞ tracking proved by Lyapunov theory. Moreover, compared other controller, simulation experiment comprising two case studies confirmed efficiency approach. Finally, results showed that reaches quality, stability.