An adaptive fuzzy logic controller for steering a hydrographic survey craft to track a straight line

The paper deals with the development of an adaptive fuzzy controller to steer a hydrographic survey craft along a straight line. Unlike standard adaptive controller designs, this adaptive fuzzy controller does not require an explicit mathematical model of the launch steering dynamics for successful control. In simulations in the presence of noise and disturbances, the adaptive fuzzy controller had slightly worse tracking performance, but with fewer computations and less control effort when compared to the performance of a self-tuning regulator based on recursive least-squares identification and pole placement controller design