A control strategy for shipboard stabilization platforms based on a fuzzy adaptive proportional-integral-derivative (PID) control architecture

Abstract

To address the precision degradation of marine equipment under coupled hydrodynamic disturbances, this study develops a 6-degree-of-freedom (6-DOF) stabilization platform with a fuzzy adaptive proportional-integral-derivative (PID) control architecture. The kinematic model is established via analysis based on the virtual-work principle, complemented by Monte Carlo simulations for workspace characterization. A fuzzy inference engine dynamically adjusts PID parameters through rule-based adaptation, demonstrating superior disturbance rejection. Comparative simulations indicate a 50 % reduction in settling time (7.0 s to 3.5 s), zero overshoot, and < 0.03° steady-state tracking error under 2 Hz sinusoidal excitation. A human-machine interface (HMI) for the shipboard stabilization platform is developed using the Qt Creator framework, integrating real-time trajectory tracking and parameter tuning. The research advances marine stabilization technology through mechanical optimization via virtual-work modeling and control enhancement via fuzzy-PID synthesis. Experimental validation confirms the framework's capability to maintain sub -0.03° precision under dynamic maritime conditions.