Title :
Research and application on a fuzzy CMAC controller with eligibility
Author :
Shen, Zhipeng ; GUO, Chen ; Du, Jialu
Author_Institution :
Lab. of Simulation & Control of Navigation Syst., Dalian Maritime Univ., China
Abstract :
A fuzzy CMAC controller with eligibility (FCE) is proposed. The eligibility can forecast the controlled system, and improve the system stability. The structure of FCE system is presented, and its learning algorithm is deduced. To make the algorithm fit to on-line control, the efficient implementation of FCE method is also given. Applying the FCE controller in a ship steering control system, the simulation results show that the ship course can be properly controlled in case of the disturbances of wave, wind, current and error in measure apparatus exist. It is demonstrated that the proposed algorithm is a promising alternative to conventional autopilots.
Keywords :
cerebellar model arithmetic computers; fuzzy control; learning (artificial intelligence); neurocontrollers; position control; ships; stability; autopilots; current disturbances; fuzzy CMAC controller; learning algorithm; online control; ship course control; ship steering control system; system stability; wave disturbances; wind disturbances; Control system synthesis; Control systems; Current measurement; Error correction; Fuzzy control; Fuzzy systems; Marine vehicles; Navigation; Stability;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1342053
