Autopilot Designed with Fuzzy Set Theory

In this paper, the design of course-keeping autopilot, is based on the cognitive modelling approach and fuzzy set theory. Using this modelling approach, the aim is to design a control system based on a model of the expert, who is able to specify the general properties of the system, rather than on a model of the system to be controlled. After an heuristic description of the desired manoeuvre characteristics, fuzzy set theory is used for the synthesis of the autopilot. Simulations on a non-linear model of a containership are presented for course-keeping manoeuvres in the presence of wave disturbances.