Fuzzy Logic Trajectory Tracking Controller for a Tanker

TL;DR

This paper introduces a fuzzy logic autopilot controller for oil tankers that adapts to water depth variations, demonstrating robustness in course and trajectory control across different water conditions.

Contribution

It presents a novel fuzzy logic controller design using triangular membership functions and centroid defuzzification for oil tankers with water-depth-dependent parameters.

Findings

Controller performs robustly in shallow and deep waters.

Effective in course changing and trajectory keeping modes.

Demonstrates adaptability to water depth variations.

Abstract

This paper proposes a fuzzy logic controller for design of autopilot of a ship. Triangular membership functions have been use for fuzzification and the centroid method for defuzzification. A nonlinear mathematical model of an oil tanker has been considered whose parameters vary with the depth of water. The performance of proposed controller has been tested under both course changing and trajectory keeping mode of operations. It has been demonstrated that the performance is robust in shallow as well as deep waters.