In practice, however, it is impossible to relateand the rudder command via a direct mathematical relationship. Thus, in the present study, the necessary course changes are computed by a fuzzy controller based on the fuzzy rules shown in Table 1. Typical membership functions of Î¸1 and Î¸2 are shown in Figs. 8 and 9, respectively, while that of the output rudder command is shown in Fig. 10. The membership function of Î¸2 shown in Fig. 9 will be denoted by type I to differS.- D.

entiate it from the other type of membership function that appears in latter section. Note that in Table 1, _n represents a negative value, _p represents a positive value and _m represents a near zero value. If we apply the fuzzy control rules with the case A1 condition in Fig. 6(a), the output response would be the p_slightlarge, this means a starboard helm command would be assigned to the controller. Meanwhile, in Fig. 10, a positive sign denotes a starboard command, a negative sign denotes a port command, and the value of the membership function indicates the rudder command angle. The overall input-output contour plot of the fuzzy controller is illustrated

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entiate it from the other type of membership function that appears in latter section. Note that in Table 1, _n represents a negative value, _p represents a positive value and _m represents a near zero value. If we apply the fuzzy control rules with the case A1 condition in Fig. 6(a), the output response would be the p_slightlarge, this means a starboard helm command would be assigned to the controller. Meanwhile, in Fig. 10, a positive sign denotes a starboard command, a negative sign denotes a port command, and the value of the membership function indicates the rudder command angle. The overall input-output contour plot of the fuzzy controller is illustrated

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