Ship course-keeping adaptive Fuzzy controller design using command filtering with minimal parametrization

Ship course-keeping control is an important function for ship autopilot. This paper describes the application of adaptive backstepping theory to automatic steering of ships. The motivation for using fuzzy control theory is that nonlinearities can be compensated for in a systematic manner. In fact, nonlinear manoeuvering properties are observed for most large tankers. Furthermore, Its aim is to make ship course track the reference model's output. The controller can guarantee the ultimate uniform boundedness of the signals in closed-loop system. it is emphasized that The controller design is in the sense of minimal parametrization. That is, only one adaptive law learns the system's unknown parameters online. In order to bypass the iterative differential manipulations in conventional ship course-keeping backstepping adaptive controller, command filtering is used. Simulation researches take ship Yulong as an example. The results demonstrate that the controller design is effective. Finally, some simulation results are reported to demonstrate the usage and effectiveness of the control scheme.