Robust internal mode control for ship autopilot based on robust feedback linearization

In allusion to the nonlinear uncertain ship model,a robust internal mode controller for ship autopilot was put forward by using robust feedback linearization technique and robust internal mode control algorithm.The feedback filter in robust internal mode control was employed to dispel the error caused by parameter perturbation between model output and anticipant output,where the parameters were on-line tuned.The simulation results based on the Matlab/Simulink package showed that the effectiveness of the designed controller.It can track the desired course accurately and exhibit strong robustness peculiarity to the uncertainties of nonlinear ship model.