Abstract
Mehran University Research Journal of Engineering and Technology,
Vol. 41, No.2, pp. 172-177, 2022 Heading and position control system of ships has remained a challenging
control problem. It is a nonlinear multiple input multiple output system.
Moreover, the dynamics of the system vary with operating as well as
environmental conditions. Conventionally, simple Proportional Integral
Derivative controller is used which has well known limitations. Other
conventional control techniques have also been investigated but they require an
accurate mathematical model of a ship. Unfortunately, accuracy of mathematical
models is very difficult to achieve. During the past few decades computational
intelligence techniques such as artificial neural networks have been very
successful when an accurate mathematical model is not available. Therefore, in
this paper, an artificial neural network controller is proposed for heading and
position control system. For simulation purposes, a mathematical model with
four effective thrusters have been chosen to test the performance of the
proposed controller. The final closed loop system has been analyzed and tested
through simulation studies. The results are very encouraging.