Fuzzy control for ship motion

In the article a fuzzy-logic based algorithm for ship motion control is presented. The system operates in an open-closed loop control system with set-point changes and wind action being compensated. a detailed description of the feedback loop controller is given. The controller has a hierarchical structure, in which independent coordinated fuzzy-logic controllers for vessel motion components are situated. The controllers perform in two modes: as velocity controllers and position controllers. The paper is completed with computer simulations.