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The variance and passivity constrained fuzzy control problem for the nonlinear ship steering systems with state multiplicative noises is investigated. The continuous-time Takagi-Sugeno fuzzy model is used to represent the nonlinear ship steering systems with state multiplicative noises. In order to simultaneously achieve variance, passivity, and stability performances, some sufficient conditions are derived based on the Lyapunov theory. Employing the matrix transformation technique, these sufficient conditions can be expressed in terms of linear matrix inequalities. By solving the corresponding linear matrix inequality conditions, a parallel distributed compensation based fuzzy controller can be obtained to guarantee the stability of the closed-loop nonlinear ship steering systems subject to variance and passivity performance constraints. Finally, a numerical simulation example is provided to illustrate the usefulness and applicability of the proposed multiple performance constrained fuzzy control method

Variance and Passivity Constrained Fuzzy Control for Nonlinear Ship Steering Systems with State Multiplicative Noises