The dynamic positioning system design based on adaptive fuzzy controller

This paper designs a dynamic positioning (DP) system with adaptive fuzzy controller. The Backstepping algorithm is employed as the adaptive law in the controller and a fuzzy system is used for approximating the disturbances and uncertainties. The proposed adaptive fuzzy controller is proven to be uniform bounded in the sense of Lyapunov. In simulation, the DP vessel will be more adaptive with environmental interference and ship parametric uncertainty by using the adaptive fuzzy controller.