通常，一個方向舵被用作致動器的船舶自動駕駛儀，以實現期望的標題。然而，這種執行器將產生不希望的橫搖運動這將影響到船的性能。有些方法船舶減搖如舭龍骨，減搖鰭或舵減搖（ RRS）被利用。在RRS ， PID控制器或LQR固定控制器參數通常被認為是。在這項研究中，一個RRS為維持船舶航向，並使用模糊增益調度PID （ FGS- PID）控制基於非線性模型船同時減少橫搖運動進行了研究。有考慮了兩種FGS- PID控制器。第一控制器是原始FGS- PID（稱為FGS- PID） ，第二個是修改後的FGS- PID（稱為FGS- PID2 ），其中一個基於另一個試驗和錯誤PID控制器和一些規則的理由是由導致更滿意的控制效果。修改應用於由規則的理由模糊規則和模糊輸入的範圍。這兩個控制器在四個不同的海況測試，性能與PID的齊格勒 - 尼科爾斯（ PID1 ） ， PID的試錯（ PID2 ）和LQR比較。根據仿真結果，原來的FGS- PID與線性對應，特別是在受干擾的海況下，當船舶參數被改變相比具有優越的性能在自動駕駛儀。對於側傾減小，所有的控制器都具有相當的性能。一種改進的FGS- PID控制器的工作原理不是在所有情況下的線性同行都為自動駕駛儀和滾動控制更好。相平面穩定性分析FGS- PID2顯示， FGS- PID2響應可以收斂到一個固定點。這些結果表明，所設計的FGS -PID可以執行適應設置控制器的參數很好。

Usually, a rudder is used as the actuator for ship autopilot to achieve the desired heading. However, this actuator will produces undesired roll motion which will affect to the ship performance. Some methods for ship roll reduction such as bilge keels, fin stabilizer or rudder roll stabilization (RRS) are utilized. In RRS, a PID controller or LQR with fixed controller parameters is generally considered. In this research, a RRS for maintaining the ship heading and reduce the roll motion simultaneously using fuzzy gain scheduling PID (FGS-PID) control based on nonlinear ship model is studied. There are two FGS-PID controllers considered. The first controller is the original FGS-PID (called FGS-PID) and the second one is the modified FGS-PID (called FGS-PID2), which a based on another trial and error PID controller and some rule justifications are made to result in more satisfactory control performance. The modification is applied to the fuzzy rule by rule justification and to the range of fuzzy inputs. These two controllers are tested in four different sea conditions and the performance is compared with PID Ziegler-Nichols (PID1), PID Trial and error (PID2) and LQR. Based on simulation results, the original FGS-PID has superior performance in autopilot compared with the linear counterparts, especially in disturbed sea condition and when the ship parameter is changed. For roll reduction, all controllers have comparable performance. A modified FGS-PID controller works better than the linear counterparts both for autopilot and roll controller in all conditions. Phase plane stability analysis for FGS-PID2 shows that FGS-PID2 response can converge to a fixed point. Those results indicate that the designed FGS-PID can perform adaptation to set the controller parameters very well.

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