Author(s)

R. Sutton & A.I. Pringle

Abstract

In this paper work is described which was directed towards enhancing the capabilities of a proportional-integral-derviative (PID) controller by means of fuzzy logic. Fuzzy set theory was used to develop a fuzzy model of the environment. The model being integrated with a PID controller to form a fuzzy hybrid autopilot. Results are presented which show the fuzzy hybrid autopilot performed better than a traditional PID autopilot when controlling the yaw dynamics of a very large crude carrier operating in windy conditions. 1 Introduction Current autopilots in modern ships are based on the classical proportional- integral-derivative (PID) design or one of its variants. Whilst such devices function reasonably well, their performance envelope is severely restricted.

Keywords