Neuro-Fuzzy Modeling and Fuzzy Control of a Fast Ferry - Fuzzy Modeling and Control: Theory and Applications - page 193

Two fuzzy control approaches have been developed. First, a Mamdani one, where
the maximum correction of the total pitch moment has been calculated using ampli-
tude and phase fuzzy controllers. In addition, a Sugeno-PID fuzzy controller was
designed, tuned by genetic algorithms, minimizing a criterion function defined in
terms of the vertical acceleration. With these optimal controller parameters, a fuzzy
inference system was generated to apply it to the control surfaces.
The performance of these controllers has been simulation tested in regular and
irregular waves and under any marine system conditions (speed, sea state, etc.). Also,
real-time experiments have been carried out on a scaled-down replica of the ship. The
efficiency of the fuzzy control on the actuators has been experimentally confirmed.
The results are highly satisfactory: there is a considerable reduction of the vertical
acceleration and therefore, of the MSI (Motion Sickness Incidence) in all the oper-
ational conditions. Therefore, as the normal sailing conditions (small or moderate
waves) mean low pitch acceleration, reducing the vertical motion by means of these
control strategies increases the operational range of the ship and its ability to carry
passengers.
Acknowledgments Author would like to thank the support of the CICYT DPI2009-14552-C02-01
project and the collaboration of the CEHIPAR staff.
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