Backstepping algorithom based nonlinear ship steering controller

The linear Nomoto model has been widely accepted in designing ship course controller. This is mainly attributed to its simple structure and relative easiness in obtaining the model parameters from standard trial data of a ship.However, under some steering conditions like a course-changing operation, it is necessary to consider the hydrodynamic nonlinearities. For nonlinear ship control system model, a ship course tracking controller is presented by use of Backstepping method. The resulting closed-loop system of ship steering is proved globally exponentially asymptotically stable. At last, the simulation for ship Yulong belonging to Dalian Marintime University demonstrates that the controller guarantees the satisfied performance.