Next , a self - learning algorithm is put forward . this algorithm comes from the repeated control of the robot . it is an attempt to apply this algorithm to ship steering 另外，考虑到近些年提出的一种源于机器人重复控制的自学习机理，本文尝试将这一自学习机理运用于船舶的操舵系统。
In this paper , the schemes of several fuzzy adaptive controllers are summarized . the fuzzy model reference adaptive control system for ship steering based on linear model and nonlinear model is constructed 本文首先阐述了几种模糊自适应控制方案，分别利用船舶操纵的线性和非线性模型，建立了自适应模糊控制的操舵系统。
With the help of simulink , fuzzy logic box provided by matlab , s - functions are written in c and m files . the output plots of heading and rudder angle can be obtained . the experiments are performed to test the disturbance rejection properties of the fuzzy model reference adaptive control compared with fuzzy control 利用matlab提供的simulink动态仿真环境，模糊逻辑工具箱及s -函数，将模型参考模糊自适应控制运用于船舶操舵系统，观察航向及舵角输出曲线，然后考虑风、浪及其它随机干扰，分析系统的抗干扰性。
