碩士 / 國立臺灣海洋大學 / 通訊與導航工程學系 / 102 / This work is concerned with the effects of using different input items on the performance of fuzzy ship track-keeping autopilot. Typical two-input design employs the heading error and the distance deviation (cross track error). In this study various two-input and three-input designs will be studied by choosing from the following inputs; specifically, the heading error, the rate of heading error, the distance deviation and the rate of distance deviation. Both the 5-set membership functions and 7-set membership functions will be studied for the two-input design. The DGPS (differential GPS) positioning data is used in the adopted LOS(line-of-sight) guidance scheme to compute the reference heading needed to steer through four predefined waypoints by a series of course-changing maneuvers. Simulated track-keeping maneuvers are conducted within the Matlab/Simulink framework and a small boat-based experiments are conducted on the waterways of the National Taiwan Ocean University (NTOU) small boat barbour. Basically the simulated results show similar trend to those of the small boat-based experiments and the performance improves as the set number used in defining the membership function increases. However, the three-input designs fail to outperform the two-input designs, which might be either attributed to the dependency between the input variables or due to inability in finding the optimum fuzzy rules for the three-input designs.
| Identifer | oai:union.ndltd.org:TW/102NTOU5300026 |
| Date | January 2014 |
| Creators | Pan, Ming-Shan, 潘酩杉 |
| Contributors | Tzeng, Ching-Yaw, Lee, Sin-Der, 曾慶燿, 李信德 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 134 |
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