| The ship motion control is an important research field. The objective of the ship control is to improve the automation level and the intellectualized level of ship, and to ensure that the navigation of ships is safe, economical and comfortable. Much more control algorithms of the ship motion control systems benefited from the boom of cybernetics in near 20 years. Among of these control algorithms, the fuzzy control theory introduced in this field provides the new possibility for the development of ship control science.Fuzzy control is appropriate for the control of complicated systems which is difficult to build system model. Compared with the great progress in industrial application of fuzzy control, the development of fuzzy control theory is lagged. The research on fuzzy control theory includes a series of key problems, such as the stability analysis, system design methods and the improvement of the system performances. Based on widely used T-S fuzzy model, this thesis discusses the problems of the stability analysis and the control design of T-S fuzzy systems in detail. Then, these research results are applied to ship motion control to accelerate the development of ship control theory. The main contributions are as follows:The model of ship motion provides a foundation for the research on the ship steering and control. Aimed at the characteristics of ship, such as non-linearity, time-varying, uncertainty, the linearity and non-linearity mathematical models of ship motion are discussed in the thesis firstly. Then, by combining parameter uncertainties caused by changing of ship speed or load state and disturbance uncertainties caused by wind, wave and current, a kind of Norrbin uncertain model for simulating ship motion is presented.For continuous T-S fuzzy control systems, an efficient maximal overlapped-rules group set (EMORGS) and an efficient maximal overlapped-rules group (EMORG) are defined. Based on EMORGS, EMORG and Lyapunov stability theory, the stability... |
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