Abstract： The problem of ship linear and harmonic course-keeping control was discussed. Based on Lyapunov stability theory, the adaptive fuzzy compensation technology was applied to the nonlinear ship response model. A robust adaptive fuzzy compensation based tracking controller including a second-order filter with physical constraints was proposed with the help of the universal approximation theory creating fuzzy systems as approximator of unknown nonlinearities in the system. The response model takes account of the modeling errors and external disturbances. The fuzzy systems can approach the nonlinear system effectively. The controller can track the designed heading angle and turning rate accurately. The rudder control was connected with the rudder servo system, making the steering in keeping with physical reality. Simulation results demonstrate the effectiveness and superiority of the adaptive fuzzy controller compared with the traditional PD control under the same control parameters.
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