Design and Stability Analysis of Fuzzy Switched PID  Controller for Ship Track-Keeping

Baozhu Jia; Hui Cao; Jie Ma

doi:10.4236/jtts.2012.24036

Journal of Transportation Technologies > Vol.2 No.4, October 2012

Design and Stability Analysis of Fuzzy Switched PID Controller for Ship Track-Keeping ()

Marine Engineering College, Dalian Maritime University, Dalian, China.
State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China.

DOI: 10.4236/jtts.2012.24036 PDF HTML 3,617 Downloads 5,951 Views Citations

Abstract

The fuzzy switched PID controller which combines fuzzy PD and conventional PI controller is proposed for ship track-keeping autopilot In this paper. By using rudder angle, the whole voyage is divided into two operating regimes which named transient operating regime and steady operating regime respectively. The fuzzy PD controller is employed in transient operating regime for increasing response, reducing overshoot and shorting transition time. And conventional PI controller is used to improve the stable accuracy in steady operating regime. The global controller is achieved by fuzzy blending of all local controllers. Routh stability criterion is utilized to obtain the stability condition of closed-loop system. The simulation results show the effectiveness of proposed method.

Keywords

Ship Control; Fuzzy Switched PID; Track-Keeping; Fuzzy Operating Regime; Stability Condition

Share and Cite:

B. Jia, H. Cao and J. Ma, "Design and Stability Analysis of Fuzzy Switched PID Controller for Ship Track-Keeping," Journal of Transportation Technologies, Vol. 2 No. 4, 2012, pp. 334-338. doi: 10.4236/jtts.2012.24036.

Conflicts of Interest

The authors declare no conflicts of interest.

References

[1]	T. I. Fossen and M. J. Paulsen. “Adaptive Feedback Linearization Applied to Steering for Ships”, The 1st IEEE Conference on Control Applications, Dayton, 13-16 September 1992, pp. 1076-1081
[2]	L. Tieshan, Y. Shujia and Q. Wenming. “ISS-Based Robust Adaptive Fuzzy Algorithm for Maintaining a Ship’s Track”, Journal of Marine Science and Application, Vol. 6, No. 4, 2007, pp. 1-7. doi:10.1007/s11804-007-7027-z
[3]	Q. M. Chen, “The Study on Indirect Multi-Mode Control Method for Ship Track-Keeping Autopilot,” Journal of Applied Sciences, Vol. 19, No. 2, 2001, pp. 153-156.
[4]	T. A. Johansen, “Operating Regime Based Process Modeling and Identification”, Ph.D. Thesis, University of Trondheim, Norway, 1994.
[5]	B. Z. Jia, G. Ren and G. Long. “Design and Stability Analysis of Fuzzy Switching PID Controller,” Proceedings of the 6th World Congress on Intelligent Control and Automation, Dalian, June, 2006, pp. 3934-3938.
[6]	Y. S. Ding, H. Ying and S. Shao. “Typical TakagiSugeno PI and PD Fuzzy Controller, Analytical Structures and Stability Analysis,” Information Sciences, Vol. 151, 2003, pp. 245-262. doi:10.1016/S0020-0255(02)00302-X
[7]	J. R. Layne and K. M. Passino, “Fuzzy Model Reference Learning Control for Cargo Ship Steering,” IEEE Control Systems Magazine, Vol. 13, No. 6, 1993, pp. 23-33. doi:10.1109/37.248001