A wide range of course-changing control algorithm for marine vessel

This paper develop a named fuzzy switched multi-model algorithm for marine vessel. The rudder angle is used to divide the course changing process into multiple local operating regimes. The local controller is designed in local operating regime by using parallel distributed compensate method. The proposed algorithm can improve the global control performance in course-changing within wide range. The Lyapunov stability theorem is employed to derive the stability conditions of closed loop system. Simulation results show that the proposed algorithm in this paper provides a satisfactory result.