Identification and Adaptive Fuzzy Control for Navigation Systems of Autonomus Vehicles

  • Juan Contreras
  • Manuel Ariza
  • Luís Velásquez
  • Alcides Ramos
  • Vladimir Díaz
  • Julián Arbeláez

Abstract

This article presents a simple method to generate the automatic course control of surface naval vehicles by using fuzzy logic to adjust the parameters of the PID controller. The fuzzy systems constructedto automatically adapt the parameters of the PID controller are Mamdani type and use functions oftriangular relevance for the antecedent and the consequent. An application to a real model is presented,exposing the identification process to obtain the mathematical model from experimental data, thetemporal analysis from the mathematical model, obtain the parameters from the PI controller, and theresults on course changes between 125° and 305°. Thereafter, and bearing in mind the range of Kp and Ti parameters in which the system is stable, a structure of a self-tunable fuzzy PI controller was presentedand implemented with notable improvement in the response system.

Downloads

Download data is not yet available.

Author Biographies

Juan Contreras
Faculty of Naval Engineering - Escuela Naval Almirante Padilla, Cartagena de Indias, Colombia
Manuel Ariza
Faculty of Naval Engineering - Escuela Naval Almirante Padilla, Cartagena de Indias, Colombia
Luís Velásquez
Faculty of Naval Engineering - Escuela Naval Almirante Padilla, Cartagena de Indias, Colombia
Alcides Ramos
Faculty of Naval Engineering - Escuela Naval Almirante Padilla, Cartagena de Indias, Colombia
Vladimir Díaz
COTECMAR. Research, Development, and Innovation Department. Cartagena, Colombia
Julián Arbeláez
Faculty of Naval Engineering - Escuela Naval Almirante Padilla, Cartagena de Indias, Colombia

References

CHANG W-J., CHANG C-H, KU C-C. “Fuzzy controller design for Takagi-Sugeno fuzzy models with multiplicative noises via relaxed non-quadratic stability analysis”. Journal of Systems and Control Engineering, Vol. 224, No. 8, pp. 918-931. December 2010.

CONTRERAS, J. “Generating fuzzy controllers for ship steering”. Annual Meeting of the North American Fuzzy Information Processing Society (NAFIPS), March 2011.

CONTRERAS, J., DURÁN, F. CELI, A. “Generating Fuzzy autopilot for ship maneuvering”. Ship Science & Technology - Vol. 5, No. 9, pp.: 107-114. July 2011.

DU, J., GUO, CH. “Nonlinear Adaptive Ship Course Tracking Control Based on Backstepping and Nussbaum Gain”. Proceeding of the 2004 American Control Conference Boston, Massachusetts, pp. 3845-3850, July, 2004.

FOSSEN, T. I. “Marine Control Systems. Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles”. Marine Cybernetics. Trondheim, Norway. 2002.

KRISHNA, M., RAO, S., RAJU, R., “"eoretical and experimental investigation of gain scheduling and adaptive autopilots for a model boat”. International Journal of Engineering Science and Technology. Vol. 3, No. 2, pp. 902–911, 2011.

LOO, C. K., MASTORAKIS, N.E. “Particle Swarm Optimization of Fuzzy Model Reference Learning Controller for Tanker Ship Steering”. Proceedings of the 11th WSEAS International Conference on Systems, Agios Nikolaos, Crete Island, Greece, July 23-25, 2007.

NGUYEN L.A., Le M.D., NGUYEN S.H., NGUYEN V.T., NGHIEM T.H. “A New and E%ective Fuzzy PID Autopilot For Ships”. SICE Annual Conference. Fukui, Japan. 2003.

TZENG, CH-Y., CHEN, J.F. “Fundamental Properties of Linear Ship Steering Dynamic Models”, Journal of Marine Science and Technology, Vol. 7, No. 2, pp. 79-88. 1999.

VELAGIC, J., VUKIC, Z., OMERDIC, E. “Adaptive fuzzy ship autopilot for trackkeeping”. Control Engineering Practice, vol. 11, pp. 433–443. 2003.

VELASCO, F.J., REVESTIDO, E., LÓPEZ, E., Moyano, E., Haro Casado, M. “Autopilot and Track-Keeping Simulation of an Autonomous In-scale Fast-ferry Model”. 12th WSEAS International Conference on Systems, Heraklion, Greece, July 22-24, 2008.

WITKOWSKA, A., SMIERZCHALSKI, R., “Nonlinear Back-stepping Ship Course Controller”, R&RATA, vol, 1, No. 2, pp. 147- 155. Jun. 2008.

Published
2014-07-20
How to Cite
Contreras, J., Ariza, M., Velásquez, L., Ramos, A., Díaz, V., & Arbeláez, J. (2014). Identification and Adaptive Fuzzy Control for Navigation Systems of Autonomus Vehicles. Ciencia Y tecnología De Buques, 8(15), 25-34. https://doi.org/10.25043/19098642.100
Section
Scientific and Technological Research Articles