VECTOR FIELD GUIDANCE LAW FOR CURVED PATH FOLLOWING OF AN UNDERACTUATED AUTONOMOUS SHIP MODEL

A vector field guidance law and control system for curved path following of an underactuated surface ship model is presented in this paper. In order to obtain the path, continuous derivatives piecewise cubic Hermite interpolation applied generation based on predefined waypoints. heading autopilot controller designed 2nd Nomoto’s its stability guaranteed by Diagram Vyshnegradsky method. The parameters Nomoto are estimated using least square support machine manoeuvring tests. both straight path-following model. demonstrate performance, classical line-of-sight, adopted comparison. results show that method capable solve problem ships.