# A CONTROL METHOD FOR A GROUP OF THE SAME TYPE OF CREWLESS TUGS IN THE TASK OF TOWING A VESSEL USING FUZZY LOGIC

The mathematical model of towing a vessel with the help of a group of similar crewless tugs (BEB) is considered. The model is a combination of flat-parallel models of the vessel and the movement of the BEB group with the designated areas of impact of the BEB on the hull of the vessel. The mathematical model of the flatparallel movement of the vessel is presented as a controlled dynamic system. For the algorithmization of the modes of operation of noncrew edwers in tow of the vessel, the composition of linguistic variables of the strategic control unit and the functional management scheme of the BEB group in the task of simple positioning are allocated. The task of operating a separate BEB in the task of simple ship positioning is determined using the odd logic theory apparatus describing the input and output variables of the BEB group control system. The fuzzy management system of the BEB group operates four input and two weekend linguistic variables. Linguistic variables show the deviation of the positioning object from a given point by longitude and latitude. Since the towed vessel does not use its propulsion systems and is controlled only by the controlbased controls generated, a manager is searched for the vessel as a linear combination of control effects from the group Tugs.

**Authors:** B. P. Pitersky, A. I. Yashin

**Direction:** Informatics, Computer Technologies And Control

**Keywords:** Mathematical model, controlled dynamic system, control functional system, ship towing model, group of the same type of crewless tugs, plane-ship motion model

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