On-line self-learning ship course-keeping intelligent control method

An on-line ship course-keeping intelligent control method was developed to control a ship on a designed course with a self-learning algorithm.A neurofuzzy controller was proposed.A fuzzy set handled imprecise information in ship control,and combined fuzzy inferences with neural network by training the parameters of fuzzy inference system through neural network.This method enables a nonlinear ship with big inertia to be real time controlled under wind and current disturbances,and it does not depend on ship mathematics model.The simulation results show that the method proposed can control ship course-keeping quite well even under environmental disturbances.