Dynamic Positioning Control System with Input Time-Delay Using Fuzzy Approximation Approach

In this paper, a backstepping controller using fuzzy approximation approaches is proposed to solve the problem of input time-delay and disturbances pertaining to ship dynamic positioning. Using fuzzy approximating to disturbances and unmodeled dynamics, backstepping control law is designed to stabilize ship positioning with input time-delay via Lyapunov approach. In order to demonstrate the effectiveness and superiority of the proposed method, simulation studies and comprehensive comparisons with PID control are conducted in the presence of complex disturbances. Simulation results show that the proposed method is superior to conventional PID control in terms of accuracy and response.