A Nonlinear Fuzzy Logic Controller Developed for an Autonomous Surface Boat

Abstract

This paper presents an optimized nonlinear fuzzy logic controller designed for an autonomous surface craft and describes the process by which it was found. The nonlinear fuzzy logic controller described herein was developed to maintain the linear feedback control of an optimal set of controller gains when the state is near the operating point. The simplex optimization method was utilized to find the optimal fuzzy logic parameters that define the shape of the control law away from the normal operating point. The resultant controller showed approximately a 20% improvement over the optimal linear controller.