Fuzzy Steering Control for T-S Fuzzy Model-Based Multiple Ship Systems Subject to Formation and Containment

• Published in: International journal of fuzzy systems Vol. 25; no. 5; pp. 1782 - 1794
• Main Authors: Lin, Yann-Horng, Chang, Wen-Jer, Pen, Chin-Lin
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.07.2023; Springer Nature B.V
• Subjects: Artificial Intelligence; Compensators; Computational Intelligence; Containment; Control methods; Control systems design; Controllers; Design techniques; Engineering; Feedback control; Fuzzy control; Management Science; Operations Research; Ships; Steering; Steering systems; Surface vehicles; Task complexity; Unmanned vehicles; Takagi–Sugeno fuzzy modeling; Formation and containment control; Multi-agent system; Nonlinear ship steering system
• ISSN: 1562-2479; 2199-3211
• DOI: 10.1007/s40815-023-01479-0

A fuzzy controller design method of multi-ship steering systems is developed to achieve the formation and containment objectives in this paper. Due to the development of unmanned surface vehicles, the more complex tasks can be accomplished by automatically and simultaneously controlling multiple ships. However, the dynamic of ship is often nonlinear because of the complex ocean. To solve the problem, the Takagi–Sugeno fuzzy model is applied to describe the behaviors of each ship in multi-ship steering systems with the leader-following structure. Via the parallel distributed compensator design method, the fuzzy formation and containment controller are developed. Different from the existing paper, the formation objective of leader ships is completed by the feedback controller of itself. Via the fuzzy containment controller, the follower ships also can be forced into the specific region spanned by leader ships simultaneously. In the final part, the simulation results of two examples are given to validate the applicability and efficiency of the proposed fuzzy control method.