Adaptive fuzzy control for the ship steering problem

• DOI: 10.1016/j.mechatronics.2006.01.003
• Publication Date: 2006-07-12T13:34:59Z
• Authors: Gerasimos Rigatos; Spyros Tzafestas
• Keywords: Steering system; Tracking error; Tracking (education)

Abstract Adaptive fuzzy H∞ control is proposed for the ship steering problem. The objective is to keep the influence of the modelling errors and the external disturbances on the tracking error below an arbitrary desirable level. The method is compared to nonlinear backstepping control. Simulation tests show the method’s efficiency.