Automatic ship handling of the maritime search mission using a self-tuningfuzzy gain scheduling PD controller

In this paper, the ship manoeuvring problems particular to maritime search and rescue are investigated. A solution to such problems is necessary for s uccessful ship handling to save human life. A fuzzy gain scheduling Proport ional Derivative (PD) controller, using a backpropagation algorithm, is dev eloped to solve these maritime search and rescue problems. Tnt: parameters of the proposed PD controller are determined on-line by fuzzy rules and adj ustable fuzzy reasons. The proposed controller is self-adaptive and can acc ommodate the effects caused by wave or wind disturbance. Some computer simu lations are provided to illustrate the use of the main ideas.