Ship steering controller design based on backstepping algorithm and nonlinear damping algorithm

For Norrbin ship mathematical model with nonlinear and uncertain characteristics,the ship steering robust controller was designed successfully based on backstepping algorithm and nonlinear damping algorithm.The controller designed counteracts uncertainty and guarantees that all states of the closed-loop system are uniformly bounded.And,simulation studies were carried out by means of Simulink of Matlab.The simulation results show that the proposed algorithm is effective,rudder angle fluctuates between-0.2° and 0.2° when the ship steering controller system becomes stable and the nonlinear ship steering controller achieves good control effect.