自适应模糊建模及其在船舶动力定位中的应用

针对船在海上其动力学模型很难精确建立，而且诸如风、浪、流等外部随机干扰的统计特性也在不断变化，作者在船舶动力这位中采用自适应模糊逻辑系统实时学习船的漂移动力学关系实现对系统的建模，并在此基础上预测为使船在下一时刻与预定位置误差最小所需的控制力，最终达到船舶动力学的目的，仿真结果说明了该方法在不同海况下均能达到很好的定位控制效果。

Adaptive Fuzzy Modeling and Its Use in Ship Dynamic Positioning

Ship dynamics is always hard to model, and the statistics of stochastic environment forces (wind, waves, current flow, etc. ) are changing all the time in different sea states. Therefore, the authors introduce an adaptive fuzzy logic system in ship dynamic positioning. The dynamic model is obtained by learning the ship's drift dynamic behavior through using fuzzy logic. Furthermore, the desired control force determined by minimizing the error between predicted and desired ship position at the next step. Simulations at different sea states have shown that the scheme is effective.