A Novel Adaptive Fuzzy Autopilot Design for ASV Tracking Control
نویسندگان
چکیده
A novel robust adaptive fuzzy control algorithm is presented for autonomous surface vehicle (ASV) autopilot. This paper studies an approach for fuzzy rule base optimization. The optimization solution especially solves the non-compatible problem in the generation process of fuzzy control rules. For the design study, the optimization model has been carried out in the simulink environment. It is shown that the proposed algorithm guarantees that the tracking control system is asymptotically stable and its tracking error can approach to zero.Simulation results also show the effectiveness of the algorithm in the presence of disturbances, and high performance of the proposed controller. Keywordsautonomous surface vehicle; fuzzy control; tracking control; simulation
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