基于分层与子模糊控制器的模糊PID自动舵

霍星星,胡江强,余婷

Fuzzy PID autopilot for ship steering based  on stratification and sub fuzzy controller

HUO Xing-xing, HU Jiang-qiang, YU Ting

大连海事大学学报 . 2013, (4): 71 -74 .