Robust Adaptive Nonlinear Design Of Ship Course Controller

In this paper, the control problem of uncertain nonlinear system based on the Backstepping design method is discussed, and its application to ship course controller is studied.The ship course controller is one of the most important research topics of ship motion control, so a lot of experts and scholars are worked hard on it. Nowadays, most designs for ship course controller base on linear Nomoto model, which neglect the nonlinear factors of ship motion control, so the problem of the ship motion control can't be solved completely. Aim at this problem, based on Backstepping design method, a adaptive ship course controller is designed. The simulation results show that the adaptive course controller has good performance.The ship motion models are the basis of researching ship motion maneuvering. Aimed at the characteristics of ships, nonlinear mathematical model of ship motion is established in the paper. Backstepping design method is introduced, and its advantages and disadvantages are summarized.Based on Backstepping design method, a ship course controller is developed for the ship motion model which has known parameter.Then, an adaptive controller is developed for the ship motion model which has unknown parameter and disturbance, such that the resulting closed-loop system is globally uniformly ultimately bounded (GUUB) and a better transient performance can be achieved by an appropriate parameter tuning. The simulation results show that the adaptive course controller has good performance.