应用自适应模糊控制实施船舶动力定位

在船舶动力定位中引入自适应模糊控制方法，即采用近似的线性模型通过Ｋａｌｍａｎ滤波得到船舶低频运动的状态估计值，模糊化后作为模糊控制器的输入实现定位控制。模糊控制器的核心为逢适应模糊逻辑系统，由于它具有任意的非线性映射能力，从而使控制器的参数能够在定位过程中不断调整，以适应外部环境变化。仿真结果表明，该方法在不同海况下均能达到很好的控制效果。

Adaptive Fuzzy Control for Ship Dynamic Positioning System

A fuzzy adaptive control scheme was proposed in the dynamic positioning. The ship low frequency motion states were estimated through Kalman filtering based on an approximate linear model. After being fuzzified they were put into a fuzzy controller, the main part of which is a self adaptive fuzzy system. Because of the universal nonlinear mapping capability of the self adaptive fuzzy system, the parameters of the controller can be self tuned according to the environment. The simulations at different sea states show that the scheme is effective.