Adaptive Robust Backstepping Nonlinear Algorithm Applied to Ship Steering

An adaptive robust nonlinear steering controller for ship’s course is developed. Incorporating the Nussbaum-type function gain and adaptive backstepping algorithm, the proposed control strategy requires neither known dynamic parameters of a ship’s model nor any knowledge about environmental disturbances. It is proved that the designed adaptive robust controller of ship steering can guarantee that the uniform ultimate boundedness of the resulting closed-loop system signals. Dynamic performance can be improved by an appropriate choice of the design parameters. The effectiveness of the presented algorithm has been demonstrated in a simulation involving a ship of 45m in length. Copyright © 2005 IFAC