Adaptive fuzzy control for Dynamic Positioning ships with time-delay of actuator

Among most of industrial control system, the time delay generally exists due to the actuator's own mechanical properties, which will produce the problem of force response delayed. And actuators are the main elements in Dynamic Positioning (DP) ships, thus it is necessary to solve the problem about time delay. Considering of the environmental disturbances, output response could be delayed and the environmental disturbances can't be compensated in time, it will cause the bad control effect, even oscillation. This paper proposed the adaptive fuzzy control, and it is a kind of adaptive active control. This control method can solve the time delay of passive control well. Combined with the fuzzy control, the adaptive control law is designed based on the backstepping method. Thus the adaptive fuzzy control for time-delay is verified by MATLAB simulating results.