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1 Journal of Polish Safety and Reliability Association

1 2007

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Non-linear backstepping ship course controller

Witkowska A., Śmierzchalski R.

Journal of Polish Safety and Reliability Association

2007

Vol. 2

355--361

A ship, as an object for course control, is characterised by a nonlinear function describing the static manoeuvring characteristics. One of the methods, which can be used, for designing a non-linear course controller for ships is the backstepping method. It was used here for designing the configurations of non-linear controllers, which were then applied for ship course control. The parameters of the obtained non-linear control structures were tuned to optimise the operation of the control system. The optimisation was performed using genetic algorithms. The quality of operation of the designed control algorithms was checked in simulation tests performed on the mathematical model of the tanker completed by steering gear.