Fuzzy Logic Trajectory Tracking Controller for a Tanker

* Assistant Professor, Department of Mechanical Engineering, Mehran University of Engineering & Technology, Jamshoro. ** Professor, Department of Computer Systems Engineering, Mehran University of Engineering & Technology, Jamshoro. Design of ship control system has been great challenge since long time, because the dynamics of ship are not only nonlinear but change with operating conditions (depth of water and speed of vehicle). These are also highly influenced by unpredictable external environmental disturbances like winds, sea currents and wind generated waves. IFAC (International Federation of Automatic Control) has identified the ship control system as one of the benchmark problems, which are difficult to solve [1].