An Intelligent Model Free Control Approach for Vessel Autopilot
نویسندگان
چکیده
To deal with the complex of vessel autopilot system due to its non-linear nature and the difficulty to describe precisely the vessel behaviour in the seaway using mathematical models, this paper proposes a vessel autopilot intelligent model free control. After collecting the input and output data sample of vessel motion in real-time, the dynamic output feedback control strategy is adopted in which the system error is instead of network error. An intelligent controller is established with neurofuzzy algorithm. The controller has the ability of on-line learning without model though studying the data of each time period and train system parameters repetitively. Finally, the model free control approach is verified by applied on an experimental boat.
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