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This paper aims to develop a genetic algorithm to adjust an fuzzy controller for Vessels' Dynamic Positioning System (Vessels' DPs). It is well-known that nonlinearities affecting the control accuracy of the DPs are related to the arrangement of different types of thrusters in the vessels, such as azimuth thrusters (electric, L-drive, and Z-drive), bow thrusters, stern thrusters, water jets, and propulsion propellers with rudders. Compared with the traditional fuzzy control methods, the proposed Robust Adaptive Fuzzy Control using Genetic Algorithm (RAFC-GA) not only overcomes the influence of nonlinearities in the DPs, but also eliminates the impact of parameter uncertainties. Therefore, the tracking performance is excellent and robustness is maintained. The RAFC-GA control method is superior to the conventional fuzzy control methods in the two following aspects: 1) to find the optimal values for the fuzzy structure parameters to satisfy the robust condition under the effect of disturbances and nonlinearities in the DPs without weakening the output tracking performance and robustness, 2) to improve the quality of the system by optimizing values for the fuzzy structure using genetic algorithm which dynamically adjusted the coverage domain width and the overlap degree of membership functions. Simulation results of the RAFC-GA are evaluated in comparison with other methods. The RAFC-GA performs the desired transient response of DPs better than others in three case studies, which proves the effectiveness of the proposed solution. |
