Robust Tracking Control Scheme for a Ship Maneuvering with Uncertain Dynamics Using Modified Fuzzy Logic Variable Structure Controller Approach

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พงษ์ศักดิ์ ผกามาศ
อุดมวิทย์ ไชยสกุลเกียรติ
สุริยะ วชิรวงศ์ไพศาล


In this paper, the tracking control of ship maneuvering by a Modified Fuzzy Logic Variable Structure Control with an integral compensator or MFLVSC is investigated. The MFLVSC structure consists of an integrator and variable structure system. The integrator ensure the elimination of steady state error due to step and ramp command inputs, while the fuzzy control would maintain the insensitivity to parameter variation and disturbances. The MFLVSC strategy is simulated and applied to a ship handling, namely course keeping, course changing and course tracking are given to demonstrated of the proposed control scheme. Simulation results indicated that MFLVSC system performance with respect to the sensitivity to parameter variations is greatly reduced. Also, its can achieve a rather accurate course tracking and avoids the chattering phenomenon.

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