Autonomous Ship Maneuvering Control and Its Path Tracking Using Fuzzy Logic and Model Free Adaptive Control

Anil Kumar D, Divyashree.B.S, Dakshayani.M, Chaitra.C.G, Arpitha.A

Abstract: Ship Electrical propulsion, is tested using Fuzzy logic and Model-Free Adaptive Control method where the best suited algorithm applied to control the speed and torque of the ship, where it makes ship adaptable to various sea situations. In case of Fuzzy logic, since ship has limited turning radii at specific path planning strategy is developed, where the ship trajectory turns around the way point. In higher order MFAC makes use of previous controlled information to improve the performance by introducing higher order learning law. The dynamic linearization is model free. Robust path planning methods are implemented to achieve the planned path with less delay in time avoiding surge.

Keywords: Ship Electrical Propulsion, Fuzzy logic, MFAC, Robust path, way points