Fuzzy Logic Trajectory Tracking Controller for a Tanker
  This paper proposes a fuzzy logic controller for design of autopilot of a ship. Triangular membership functions have been use for fuzzification and the centroid method for defuzzification. A nonlinear mathematical model of an oil tanker has been considered whose parameters vary with the depth of water. The performance of proposed controller has been tested under both course changing and trajectory keeping mode of operations. It has been demonstrated that the performance is robust in shallow as well as deep waters. 
Dur Muhammad Pathan, Mukhtiar Ali Unar, Zeeshan Ali Memon
cs.SY