Fuzzy control has shown success in some application areas and emerged as an alternative to some conventional control schemes. There are also some drawbacks in this approach, for example it is hard to justify the choice of fuzzy controller parameters and control rules, and control precision is low, and so on. Fuzzy control is developing towards self-learning and adaptive. The ship steering motion is a nonlinear, coupling, time-delay complicated system. How to control it effectively is the problem that many scholars are studying. In this paper, based on the repeated control of the robot, the self-learning arithmetic was worked out. The arithmetic was realized in fuzzy logic way and used in cargo steering. It is the first time for the arithmetic to be used in cargo steering. Our simulation results show that the arithmetic is effective and has several potential advantages over conventional fuzzy control.This work lays a foundation in modeling and analyzing the fuzzy learning control system.