Abstract
This study proposes two schemes for ship autopilot: the first is a follow-up mode, applying manual dynamics to the state-space-based underactuated large merchant ship (ULMS) model, using a steering wheel and joystick to emulate manual operation; the second is a Nav mode developed by path-following control. In this mode, a novel path-following control strategy is developed for ULMS with input saturation and delay, two novel auxiliary systems are employed to stabilize the plant with input constraints. The input delay auxiliary system (IDAS) effectively tackles the design challenges posed by input delay, while the input saturation auxiliary system (ISAS) is dedicated to generating actual control inputs under the constraint of saturation. Furthermore, the dynamic surface control (DSC) technique and the roust neural damping technique are introduced to mitigate the computational burden and simplify the controller structure, thereby enhancing the efficiency and performance of the entire control system. Lyapunov stability analysis proves the ship motion system is semi-globally uniformly ultimately bounded (SGUUB). Finally, the effectiveness of these two schemes is verified through turning experiment, comparative simulations and a semi-physical simulation platform that integrates physical models with computer simulation technology.
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