Design of a trainable fuzzy autopilot for ship maneuvering

A trainable fuzzy controller for ship maneuvering is demonstrated in this paper. A trainable fuzzy controller can model the control actions of an expert helmsman, that is, it can transform them into fuzzy IF-THEN rules. The training is achieved by a set of recorded data of an expert helmsman. The performance of the fuzzy controller can then be further improved by choosing scaling factors properly.