Abstract
In the paper an adaptive multi-controller control system utilizing a TSK fuzzy rules for a MIMO nonlinear dynamic plant is presented. The problems under study are exemplified by synthesis of a position and yaw angle control system for a drillship described by a 3DOF nonlinear mathematical model of low-frequency motions made by the drillship over the drilling point. In the proposed control system use is made of a set of linear modal controllers that create a multi-controller structure from which a group of controllers appropriate to given operation conditions is chosen and used to calculate, by using TSK fuzzy rules, control signals. The final part of the paper includes simulation results of system operation with an adaptive controller of (stepwise) varying parameters along with conclusions and final remarks.
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