Study on fuzzified CMAC control for ship steering based on eligibility

A fuzzified CMAC controller with eligibility (FCE) is proposed. The introducing of eligibility can predict the uncertainty of 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. It is demonstrated that the proposed algorithm is a promising alternative to conventional autopilots.