A Kind of Self-tuning PID Controller and its Application on Marine Motion Control

A simplex neuron based fuzzy self-tuning PID controller (SNFSPID) is presented in this paper. The single neuron part of the given controller is, in fact, a PID controller with links adjustable online, so that can improve the self learning and self turning ability of the system. Fuzzy controller is used to adjust the output of the neuron and can accelerate the control process. Simulations have been made on marine motion control and the results showed that SNFSPID controller has the benefits of few adjustable parameters, easy modulation, stable output control and preferable robustness, so can be more fit for large time-delay or uncertain system