TITLE:
Design and Stability Analysis of Fuzzy Switched PID Controller for Ship Track-Keeping
AUTHORS:
Baozhu Jia, Hui Cao, Jie Ma
KEYWORDS:
Ship Control; Fuzzy Switched PID; Track-Keeping; Fuzzy Operating Regime; Stability Condition
JOURNAL NAME:
Journal of Transportation Technologies,
Vol.2 No.4,
October
31,
2012
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.