Fuzzy heading control of a rotary electric propulsion ship with double propellers

Aiming at the problem of course control for rotary electric propulsion ship with double propellers, this paper designed a rotary electric propulsion ship with double propellers fuzzy controller by setting equivalent rudder angle and establishing ship motion response equation, general fuzzy partition of T-S fuzzy system is also applied. The controller regards bow wave angle and deviation of the bow wave angular velocity as the input while equivalent rudder propeller rotation angle as the output. Stability of the closed-loop control system is proved through constructing piecewise smooth Lyapunov function. Simulation results demonstrate the effectiveness and superiority of the proposed control method .